CN105957335A - Vehicle formation driving method and system - Google Patents
Vehicle formation driving method and system Download PDFInfo
- 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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- driving
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/22—Platooning, i.e. convoy of communicating vehicles
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
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
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610250195.4A CN105957335A (en) | 2016-04-11 | 2016-04-11 | Vehicle formation driving method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610250195.4A CN105957335A (en) | 2016-04-11 | 2016-04-11 | Vehicle formation driving method and system |
Publications (1)
| Publication Number | Publication Date |
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| CN105957335A true CN105957335A (en) | 2016-09-21 |
Family
ID=56917801
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201610250195.4A Withdrawn CN105957335A (en) | 2016-04-11 | 2016-04-11 | Vehicle formation driving method and system |
Country Status (1)
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Cited By (16)
| 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 |
| CN107945502A (en) * | 2017-11-16 | 2018-04-20 | 东南大学 | A kind of fleet's emerging system and method based on intelligent transportation |
| CN109559499A (en) * | 2017-09-26 | 2019-04-02 | 郑州宇通客车股份有限公司 | Vehicle platoon traveling management platform, control method and car-mounted terminal |
| KR20190069989A (en) * | 2017-12-12 | 2019-06-20 | 현대자동차주식회사 | Apparatus for controlling platooning based-on weather environment, system having the same and method thereof |
| CN109949567A (en) * | 2019-04-23 | 2019-06-28 | 深圳成谷科技有限公司 | A kind of platooning's method and system based on bus or train route coordination technique |
| CN110071982A (en) * | 2019-05-28 | 2019-07-30 | 深圳成谷科技有限公司 | The method that the lorry of bus or train route collaboration is formed into columns |
| CN110838228A (en) * | 2019-10-18 | 2020-02-25 | 东南大学 | Intelligent interactive driving system and device for commercial truck fleet |
| CN111038506A (en) * | 2018-10-13 | 2020-04-21 | 大众汽车有限公司 | Method for operating a vehicle fleet and selection device for a user of a guide vehicle of a vehicle fleet |
| CN111161587A (en) * | 2020-01-03 | 2020-05-15 | 北京汽车集团有限公司 | Vehicle control method |
| CN111325967A (en) * | 2020-02-28 | 2020-06-23 | 清华大学 | Intelligent networking automobile formation control method and device based on cooperative assignment |
| CN111554153A (en) * | 2020-05-14 | 2020-08-18 | 北京工业大学 | Intelligent integrated comprehensive experiment platform for traffic teaching, scientific research and display |
| CN112466129A (en) * | 2019-09-09 | 2021-03-09 | 大众汽车股份公司 | Vehicle, traffic control entity, method, computer program and device for adjusting the speed of a vehicle in a queue |
| CN113424239A (en) * | 2019-02-15 | 2021-09-21 | 联想(北京)有限公司 | Method and apparatus for managing vehicle queues |
| CN113460066A (en) * | 2021-08-11 | 2021-10-01 | 东南大学 | Method for detecting vehicle data transmission accuracy in automatic driving vehicle queue |
| CN114207692A (en) * | 2019-08-01 | 2022-03-18 | 三菱电机株式会社 | Driving assistance device, driving assistance system, and driving assistance method |
| WO2024065671A1 (en) * | 2022-09-30 | 2024-04-04 | 华为技术有限公司 | Platooning control method and apparatus, and intelligent driving device |
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| CN106600952A (en) * | 2017-01-24 | 2017-04-26 | 中国科学院自动化研究所 | Method for vehicle formation forming |
| CN109559499A (en) * | 2017-09-26 | 2019-04-02 | 郑州宇通客车股份有限公司 | Vehicle platoon traveling management platform, control method and car-mounted terminal |
| CN107945502A (en) * | 2017-11-16 | 2018-04-20 | 东南大学 | A kind of fleet's emerging system and method based on intelligent transportation |
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| CN111038506A (en) * | 2018-10-13 | 2020-04-21 | 大众汽车有限公司 | Method for operating a vehicle fleet and selection device for a user of a guide vehicle of a vehicle fleet |
| CN113424239A (en) * | 2019-02-15 | 2021-09-21 | 联想(北京)有限公司 | Method and apparatus for managing vehicle queues |
| CN109949567A (en) * | 2019-04-23 | 2019-06-28 | 深圳成谷科技有限公司 | A kind of platooning's method and system based on bus or train route coordination technique |
| CN110071982A (en) * | 2019-05-28 | 2019-07-30 | 深圳成谷科技有限公司 | The method that the lorry of bus or train route collaboration is formed into columns |
| CN114207692B (en) * | 2019-08-01 | 2023-08-01 | 三菱电机株式会社 | Driving support device, driving support system, and driving support method |
| CN114207692A (en) * | 2019-08-01 | 2022-03-18 | 三菱电机株式会社 | Driving assistance device, driving assistance system, and driving assistance method |
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| CN112466129A (en) * | 2019-09-09 | 2021-03-09 | 大众汽车股份公司 | Vehicle, traffic control entity, method, computer program and device for adjusting the speed of a vehicle in a queue |
| CN110838228A (en) * | 2019-10-18 | 2020-02-25 | 东南大学 | Intelligent interactive driving system and device for commercial truck fleet |
| CN111161587A (en) * | 2020-01-03 | 2020-05-15 | 北京汽车集团有限公司 | Vehicle control method |
| CN111325967A (en) * | 2020-02-28 | 2020-06-23 | 清华大学 | Intelligent networking automobile formation control method and device based on cooperative assignment |
| CN111325967B (en) * | 2020-02-28 | 2020-12-25 | 清华大学 | Intelligent networking automobile formation control method and device based on cooperative assignment |
| CN111554153A (en) * | 2020-05-14 | 2020-08-18 | 北京工业大学 | Intelligent integrated comprehensive experiment platform for traffic teaching, scientific research and display |
| CN113460066A (en) * | 2021-08-11 | 2021-10-01 | 东南大学 | Method for detecting vehicle data transmission accuracy in automatic driving vehicle queue |
| WO2024065671A1 (en) * | 2022-09-30 | 2024-04-04 | 华为技术有限公司 | Platooning control method and apparatus, and intelligent driving device |
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