CN105957335A - Vehicle formation driving method and system - Google Patents

Vehicle formation driving method and system Download PDF

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Publication number
CN105957335A
CN105957335A CN201610250195.4A CN201610250195A CN105957335A CN 105957335 A CN105957335 A CN 105957335A CN 201610250195 A CN201610250195 A CN 201610250195A CN 105957335 A CN105957335 A CN 105957335A
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CN
China
Prior art keywords
vehicles
formation
system
vehicle
characterised
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CN201610250195.4A
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Chinese (zh)
Inventor
谢奇
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谢奇
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Priority to CN201610250195.4A priority Critical patent/CN105957335A/en
Publication of CN105957335A publication Critical patent/CN105957335A/en

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    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/22Platooning, i.e. convoy of communicating vehicles

Abstract

The method comprises a vehicle formation driving method and system. The method comprises the steps that a certain vehicle firstly generates driving formation information actively and broadcasts the formation information of the vehicle to the surroundings through a wireless network, surrounding vehicles can apply to join formation, after formation sponsor agrees to apply, following vehicles automatically track the vehicle by using multiple sensors and analyze motion track to follow automatically, at the same time, the following vehicles use the multiple sensors to analyze a surrounding environment and the condition of the following vehicles, when the following vehicles are in a risk, the vehicle information is broadcasted and formation speed is limited, and all the data is exchanged through a wireless network in the driving process of the whole formation. According to the method and the system, the formation driving method of driver working can be simplified partially, the formation driving stability is high, the safety of the following vehicles is ensured, and the energy consumption is reduced at the same time.

Description

A kind of vehicles formation running method and system

Technical field

The present invention relates to automation control area, particularly to a kind of vehicles formation running method and system.Additionally, this formation running method and System is particularly suitable for application as supplementing and upgrading of current vehicle driving control method.

Background technology

Automatic Pilot, since the nineties, each industrial power of the world has all put into a large amount of man power and material and has researched and developed it, existing so far Portioned product can be fully achieved in the case of road conditions is simple and be not required to the Function for Automatic Pilot that people intervenes, but its system is extremely complex, cost intensive.

At present in part automated driving system, can pass through various kinds of sensors, it is achieved follow driving function, by range unit, velocity sensor, Rotary angle transmitter and external environment condition sensor etc., get target travel information, and analyze these information self speed of adjustment and direction, reach to follow Purpose, but the method is excessively simple, will follow target as sole purpose, give no thought to the security risk followed, as target handling capacity with These vehicles gap is huge, and surrounding is not suitable for these vehicles, self power performance is not enough, is likely to bring following the vehicles Dangerous.

Part industrial power is developing and is testing platooning's traveling technology at present, it is achieved that first bus pilot steering, vehicle below is automatically followed and driven The technology sailed, but it limits too much, forms into columns and is in operation and can not change, and first bus can not change so that forms into columns and uses underaction, and first bus is driven Member's pressure is excessive.

Summary of the invention

Therefore, the present invention provides a kind of vehicles formation running method and system, its object is to: reduce driver's work with formation driving system Amount, reduces vehicles overall energy consumption, solves the problem that formation driving system may need amendment to form into columns, reduces the security risk during following.

The present invention can be used for conventional vehicles control system is carried out upgrading, it is possible to merges inside the automated driving system embedding the vehicles, As a kind of supplementary control method.

A kind of vehicles formation running method in the present invention and system step: certain vehicles first actively generates one and travels formation information, and By wireless network to the formation information of surrounding broadcast self, the vehicles around can be applied for adding formation, after formation promoter grants an application, Following the vehicles uses multiple sensors that it is carried out automatic tracing, and analyzes its movement locus and automatically follow, and follows the vehicles simultaneously and uses many Surrounding and self-condition are analyzed by individual sensor, broadcast this vehicle information when self having security risk and limit formation speed, Whole formation is the most all by wireless network communicating data, and data content may include but be not limited to head of the queue driving performance information, each traffic Instrument instantaneous velocity, each vehicles instantaneous acceleration, its flow process is as shown in Figure 1.

The mode controlling the vehicles can use the directly analog subscriber operation such as conventional hydraulic action device, servomotor, it is also possible to accesses the vehicles Existing electric-control system, is directly controlled by the form sending signal.

At least two, the vehicles in formation, wherein first is referred to as head of the queue, and last is referred to as tail of the queue, and the vehicles in addition are referred to as team In.Each vehicles use the spacing before and after the control of multiple sensors, make the spacing between all vehicles keep one by controlling self speed Cause.During deceleration, whole formation is on the basis of the vehicles that decelerability is worst, and each vehicles control the spacing of self and the vehicles front and back, When vehicle distance below is too short, current vehicle should suitably reduce deceleration and prevents from knocking into the back, and works as when vehicle distance above is long The front vehicles should suitably reduce deceleration pursuit.During acceleration, whole formation on the basis of the vehicles that acceleration is worst, each vehicles control Making the spacing of self and the vehicles front and back, when vehicle distance below is long, current vehicle should suitably reduce acceleration wait, currently When the vehicle distance in face is too short, current vehicle should suitably reduce acceleration and prevents from knocking into the back.

Using wireless network communicating data between each vehicles, wireless network strength must is fulfilled for the stable data between adjacent two vehicles Connecting, the radio receiver of each vehicles uses bridge joint mode that whole formation network is combined together.In formation driving process, the control of head of the queue Operation processed is delivered to the most all of vehicles and goes, and the convenient vehicles below are followed.In each vehicles formation driving process, work as team First change before line direction or during acceleration and deceleration, other vehicles in addition to head of the queue start to broadcast self motor-driven parameter, it may include but be not limited to instantaneous velocity, Acceleration, the angle of pitch, attitude, overall jitter frequency and amplitude, head of the queue limits self mobility according to these parameters.

After the vehicles add and travel formation network, head of the queue should broadcast unique characteristics, in order to other vehicles start sensor and scan for it, Sensor may include but be not limited to ccd sensor, infrared sensor, range sensor, electromagnetic signal sensor, pick up etc., and sensor is wanted Ask multiple, in order to system is as redundancy, noise reduction, lifting systematic function, increase New function.When the vehicles also non-locking head of the queue in forming into columns, Head of the queue is also the tail of the queue of this formation, forms into columns during forming a team, and in addition to head of the queue, tail of the queue feature searched for automatically by remaining vehicles and locking is followed, when Himself becoming new tail of the queue after certain vehicles locking tail of the queue, formation network starts to broadcast the feature of new tail of the queue.

Detection to surrounding should be carried out automatically, and investigative range suitably should extend in multiple directions, and the sensor type that should use can include but not limit In ccd sensor, biosensor, air velocity transducer, gyroscope, range sensor etc..

Detection requirement to this vehicle status need to know these vehicles partial parameters value in advance, it may include but be not limited to these vehicles and grow tall Width, power source Safety output value, power source limit output valve, energy minimum safe value, Mechanical Structure Strength, safe acceleration, limit acceleration, And require to get all known instantaneous parameterses that these vehicles are current, it may include but it is not limited to speed, direction, the angle of pitch, attitude, entirety Chattering frequency and amplitude.

More excellent, the vehicles being in following state in the method should detect and record the safe stopping distance in current environment and machine at the volley The dynamic distance evaded, controls to follow the vehicles and the vehicles above and keeps the intermediate value of these two distance values, and urgent at target vehicle When braking or have an accident, adopt right measures and reduce the danger following the vehicles.Wherein, safe stopping distance refers to present speed and environment Under, vehicle slowdown, to totally stationary required distance, evasive maneuvering distance, refers under present speed and environment, before vehicles deviation Vehicles forwarding route prevent the required distance that knocks into the back.

More excellent, the vehicles being in following state in the method should detect the degree of stability of self and degree of jolting at the volley, and degree of stability is i.e. In the range of whether the mobility of target vehicle is in safe kinetic parameter, the overall jitter of degree of jolting target vehicle the most under the present circumstances Degree, when degree of stability, degree of jolting and speed are comprehensively analyzed beyond when following vehicle safety value, suitably slows down and alerts driver.

More excellent, form into columns during moving ahead, it is allowed to formation has the new vehicles add and form into columns, allow also to the existing vehicles and exit formation. Adding when forming into columns, system be first automatically that the new vehicles arrange a position nearby, and controls formation and vacate position, then controls these vehicles certainly Move and sail into.When exiting formation, the vehicles that must exit automatically move to formation side and change to automatic driving mode or pilot steering pattern, and it is empty The position gone out is covered automatically by the vehicles below.

More excellent, form into columns during moving ahead, it is allowed to Driving control decision-making power is given second vehicles and exits formation by head of the queue.When exiting, need First passing through second vehicles in formation to agree to, after it is ready to and has taken over control formation, former head of the queue can sail out of voluntarily, former second The vehicles become new head of the queue.

The technique effect obtained after using the present invention is: use formation driving system to decrease the workload of driver;Use head of the queue clears the way, after its The form that its vehicles follows closely reduces the windage of the most all vehicles and reduces overall energy consumption;Use and allow formation driving process changes formation Characteristic improves the convenience travelled of forming into columns;Utilize the analysis to target vehicle labile state, the detection to surrounding and self is moved The monitoring of Force system improves the safety formed into columns when travelling.

Accompanying drawing explanation

The detailed description made non-limiting example with reference to the following drawings by reading, the present invention and logic theory, physical arrangement and advantage will Can become readily apparent from.The part that labelling instruction identical in whole accompanying drawings is identical.Accompanying drawing is not drawn to scale, it is preferred that emphasis is this is shown Bright purport.

Fig. 1 is a kind of vehicles formation running method and the logic flow schematic diagram of system in the present invention;

Fig. 2 is an embodiment simplified structure diagram in the present invention.

Label declaration: 1-laser range finder, high definition CCD of 2-band three-dimensional automatic cradle head, 3-road surface ccd sensor, 4-biological detection sensor, 5-car side radar, 6-CAN communication module, 7-acceleration transducer, 8-gyroscope, 9-high-performance computer, 10-WIFI communication module.

Detailed description of the invention

Hereinafter one embodiment of the present of invention will be described.It is to be appreciated that the invention is not limited in following particular implementation, wherein The equipment and the structure that do not describe in detail to the greatest extent are construed as being practiced with the common mode in this area;Any those of ordinary skill in the art, Without departing under technical solution of the present invention ambit, technical solution of the present invention is made many possible by the method and the technology contents that all may utilize the disclosure above Variation and modification, or be revised as the Equivalent embodiments of equivalent variations, this has no effect on the flesh and blood of the present invention.Therefore, every without departing from this The content of bright technical scheme, the technical spirit of the foundation present invention, to any simple modification made for any of the above embodiments, equivalent variations and modification, the most still belongs to In the range of technical solution of the present invention is protected.

Achieving a kind of vehicle-mounted formation driving system in the present embodiment, its structure is as in figure 2 it is shown, specifically include that

1, laser range finder, after being fixed on Herba Plantaginis and car, for detecting the accurate air line distance between this car and fore-aft vehicle, with high-performance calculation Machine is direct-connected, automatic feedback distance value;

2, high definition CCD of band three-dimensional automatic cradle head, it is used for following the trail of target vehicle car plate, and automatically target vehicle is locked in center, the visual field, with high property Can computer direct-connected, automatic feedback The Cloud Terrace level and luffing angle, computer can calculate from the data difference of two The Cloud Terraces accurate car with The distance value of front truck;

3, road surface ccd sensor, it is fixed on Herba Plantaginis, is used for detecting road traffic line, direct-connected with high-performance computer, by computer processing data;

4, biological detection sensor, it is fixed on Herba Plantaginis, is used for detecting whether road ahead has biological close, direct-connected with high-performance computer, automatically Feedback testing result;

5, car side radar, it is fixed on car side, is used for detecting whether side road has barrier, direct-connected with high-performance computer, automatic feedback detects Result;

6, CAN, it is integrated in high-performance computer, for interconnecting with other carried-on-vehicle computer system, convenient acquisition dynamical system is instant Data, and vehicle-mounted computer is transmitted Driving control signal;

7, acceleration transducer, it is integrated in high-performance computer, is used for obtaining this car acceleration, sideslip situation and this car entirety pitch frequency And amplitude;

8, gyroscope, it is integrated in high-performance computer, is used for obtaining this car attitude, including the angle of pitch and vehicle roll situation;

9, high-performance computer, it is installed on vehicle interior, its performance should ensure that must not block time, crashes;

10, WIFI communication modules, its antenna is installed on roof, and communication distance requires to reach more than 100 meters.

In the present embodiment, follow vehicle and use the license plate number of target vehicle to carry out following driving as eigenvalue.

Its workflow is as follows: 1, and head of the queue vehicle generates forms into columns and broadcasts formation information;2, other vehicle application adds forms into columns, and head of the queue is opened after agreeing to Beginning follows, and system for tracking cuts off user's steering wheel, throttle, brake input, gets involved and travels control;3, non-head of the queue vehicle uses the three-dimensional cloud automatically of band Preceding vehicle car plate is locked in the visual field right in the middle by high definition CCD of platform automatically, and to system feedback The Cloud Terrace level and luffing angle data;4, system The driving data transmitted by wireless network according to The Cloud Terrace data, laser range finder data, head of the queue and current driving speed, automatically control vehicle with With preceding vehicle, and command range;5, in following, the detection road surface ahead traffic line of road surface ccd sensor, system automatically processes, and according to friendship Rule travel;6, in following, biosensor detection road surface ahead has inanimate object to swarm into, and system automatically processes, and takes braking or evasion manoeuvre;7, In following, whether radar monitoring vehicle both sides, car side have barrier close, and system automatically processes, and exceedes safety value, takes evasion manoeuvre;8, with In with, acceleration transducer detection defective steering stabilizer and vehicle jolt situation, notice system for tracking limit formation speed when having security risk;9, In following, gyroscope detection vehicle attitude, notify system for tracking and limit formation speed when having security risk;10, during deceleration, each car real-time broadcast Self deceleration, forms into columns and slows down with minimum deceleration degree, and be gradually reduced following distance according to speed;11, during acceleration, each car real-time broadcast self accelerates Degree, forms into columns and accelerates with minimum acceleration, and be gradually increased following distance according to speed;12, when formation has vehicle to leave, this car is removed by system automatically Fleet, and change to automatic Pilot or pilot steering, its position is by vehicle polishing below;13, forming into columns, there have vehicle to add to be fashionable, and system is the most nearby Vacate position for this car, and sail this car into this position;14, when head of the queue leaves, Driving control power is transferred to second vehicle by system automatically, treats After completing handing-over, head of the queue can sail out of safely.

Claims (5)

1. a vehicles formation running method and system, it is characterised in that multiple vehicles composition is formed into columns, and passes through between each vehicles Wireless network communicating data, in queue, first vehicles is responsible for making Driving control decision-making, and second and the vehicles afterwards are followed automatically, Entire team's vehicles mobility mutually pins down, and keeps whole formation to move ahead as an entirety.
2. a kind of vehicles formation running method as claimed in claim 1 and system, it is characterised in that the vehicles in formation are according to working as Front movement velocity, and the distance of inherently safe braking distance or evasive maneuvering distance controlling self and the vehicles above.
3. a kind of vehicles formation running method as claimed in claim 1 and system, it is characterised in that the vehicles in formation are moving ahead During monitor oneself state, according to oneself state, speed is limited.
4. a kind of vehicles formation running method as claimed in claim 1 and system, it is characterised in that form into columns during moving ahead, it is allowed to have The vehicles add or exit formation.
5. a kind of vehicles formation running method as claimed in claim 1 and system, it is characterised in that form into columns during moving ahead, it is allowed to the Driving control decision-making power is given second vehicles and exits formation by one vehicles.
CN201610250195.4A 2016-04-11 2016-04-11 Vehicle formation driving method and system CN105957335A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106600952A (en) * 2017-01-24 2017-04-26 中国科学院自动化研究所 Method for vehicle formation forming

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CN1301001A (en) * 1999-12-23 2001-06-27 李善伯 Method for realizing vehicles running on highway in queue mode
US20070135989A1 (en) * 2005-12-08 2007-06-14 Honeywell International Inc. System and method for controlling vehicular traffic flow
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CN105279958A (en) * 2015-11-13 2016-01-27 奇瑞汽车股份有限公司 Fleet management system and method
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Publication number Priority date Publication date Assignee Title
CN1301001A (en) * 1999-12-23 2001-06-27 李善伯 Method for realizing vehicles running on highway in queue mode
US20070135989A1 (en) * 2005-12-08 2007-06-14 Honeywell International Inc. System and method for controlling vehicular traffic flow
CN101622156A (en) * 2007-08-10 2010-01-06 丰田自动车株式会社 Perimeter monitor
CN201348824Y (en) * 2008-12-22 2009-11-18 昆明理工大学 Pre-formation none-waiting traffic flow control device
CN101859494A (en) * 2009-04-06 2010-10-13 通用汽车环球科技运作公司 Autonomous vehicle management
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Publication number Priority date Publication date Assignee Title
CN106600952A (en) * 2017-01-24 2017-04-26 中国科学院自动化研究所 Method for vehicle formation forming

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Application publication date: 20160921