CN107054367B - 协同行驶方法 - Google Patents
协同行驶方法 Download PDFInfo
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- CN107054367B CN107054367B CN201710126234.4A CN201710126234A CN107054367B CN 107054367 B CN107054367 B CN 107054367B CN 201710126234 A CN201710126234 A CN 201710126234A CN 107054367 B CN107054367 B CN 107054367B
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- 238000000034 method Methods 0.000 title claims abstract description 88
- 230000005540 biological transmission Effects 0.000 claims abstract description 33
- 238000010348 incorporation Methods 0.000 claims description 22
- 230000008859 change Effects 0.000 claims description 4
- 238000000926 separation method Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 description 30
- 238000005516 engineering process Methods 0.000 description 19
- 239000000446 fuel Substances 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
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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
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0295—Fleet control by at least one leading vehicle of the fleet
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0293—Convoy travelling
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/52—Network services specially adapted for the location of the user terminal
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—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
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
- B60W2754/30—Longitudinal distance
Abstract
Description
Claims (16)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2016-0009122 | 2016-01-26 | ||
KR1020160009122A KR101807386B1 (ko) | 2016-01-26 | 2016-01-26 | 협력주행방법 및 협력주행장치 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN107054367A CN107054367A (zh) | 2017-08-18 |
CN107054367B true CN107054367B (zh) | 2020-05-22 |
Family
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Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710126234.4A Active CN107054367B (zh) | 2016-01-26 | 2017-01-26 | 协同行驶方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US10788843B2 (zh) |
KR (1) | KR101807386B1 (zh) |
CN (1) | CN107054367B (zh) |
DE (1) | DE102017000646A1 (zh) |
Families Citing this family (26)
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US10757485B2 (en) | 2017-08-25 | 2020-08-25 | Honda Motor Co., Ltd. | System and method for synchronized vehicle sensor data acquisition processing using vehicular communication |
US10089876B1 (en) * | 2017-09-06 | 2018-10-02 | Qualcomm Incorporated | Systems and methods for coordinated lane-change negotiations between vehicles |
JP6572271B2 (ja) * | 2017-09-13 | 2019-09-04 | 本田技研工業株式会社 | 車両制御装置、車両、車両制御装置の処理方法およびプログラム |
DE102017010429A1 (de) * | 2017-11-10 | 2019-05-16 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Verfahren zur Bildung eines lose gekoppelten Fahrzeugverbands |
KR102043152B1 (ko) * | 2017-11-17 | 2019-12-02 | 엘지전자 주식회사 | 차량에 구비된 차량 제어 장치 및 차량의 제어방법 |
JP6954052B2 (ja) * | 2017-11-27 | 2021-10-27 | トヨタ自動車株式会社 | 車群制御装置 |
CN107798861B (zh) * | 2017-11-30 | 2021-03-02 | 湖北汽车工业学院 | 一种车辆协作式编队行驶方法及系统 |
CN113299096B (zh) * | 2017-12-28 | 2023-06-13 | 北京百度网讯科技有限公司 | 合作式交叉路口通行控制方法、装置及设备 |
KR102417910B1 (ko) * | 2018-02-19 | 2022-07-07 | 현대자동차주식회사 | 군집 주행 제어 장치 및 방법 |
US11163317B2 (en) | 2018-07-31 | 2021-11-02 | Honda Motor Co., Ltd. | System and method for shared autonomy through cooperative sensing |
US11181929B2 (en) | 2018-07-31 | 2021-11-23 | Honda Motor Co., Ltd. | System and method for shared autonomy through cooperative sensing |
DE102018122824A1 (de) * | 2018-09-18 | 2020-03-19 | Wabco Gmbh | Verfahren zum Koordinieren eines Fahrzeugverbundes, Auswerteeinheit, Fahrzeug sowie Fahrzeugverbund |
DE102018122825A1 (de) * | 2018-09-18 | 2020-03-19 | Wabco Gmbh | Verfahren zum Koordinieren eines Fahrzeugverbundes, Auswerteeinheit, Fahrzeug sowie Fahrzeugverbund |
KR102599263B1 (ko) * | 2018-09-28 | 2023-11-06 | 현대오토에버 주식회사 | 경로 안내 장치, 방법 및 시스템 |
WO2020107309A1 (en) * | 2018-11-29 | 2020-06-04 | Psa Automobiles S.A. | Dynamic management of insertions of vehicles |
JP7085973B2 (ja) * | 2018-12-12 | 2022-06-17 | 本田技研工業株式会社 | 運転支援装置、車両、運転支援装置の制御方法および運転支援プログラム |
CN109774716B (zh) * | 2019-01-16 | 2021-11-09 | 阿波罗智能技术(北京)有限公司 | 车辆控制方法和装置 |
EP3731204B1 (en) | 2019-04-24 | 2024-02-21 | Volkswagen Aktiengesellschaft | Method, computer program, apparatus, vehicle, and network component for controlling a maneuver within a platoon |
CN112849122A (zh) * | 2019-11-28 | 2021-05-28 | 奥迪股份公司 | 车队驾驶辅助方法、系统、包括所述系统的车队、和介质 |
KR20210079946A (ko) * | 2019-12-20 | 2021-06-30 | 주식회사 만도 | 차량 및 그 제어 방법 |
CN111223323B (zh) * | 2020-01-13 | 2021-06-15 | 深圳大学 | 车辆队列协同行驶方法及相关装置 |
JP2023517800A (ja) * | 2020-01-16 | 2023-04-27 | クゥアルコム・インコーポレイテッド | 車両操縦推定精度伝達 |
CN111341125B (zh) * | 2020-02-07 | 2021-09-03 | 中国联合网络通信集团有限公司 | 车辆通行方法及装置 |
CN111583640B (zh) * | 2020-04-30 | 2022-04-22 | 重庆大学 | 基于车路协同的上匝道协同并道控制方法 |
KR20230027625A (ko) | 2021-08-19 | 2023-02-28 | 한국전자통신연구원 | 주행 협상에 기반한 협력 주행 방법 및 이를 위한 장치 |
CN113734184B (zh) * | 2021-10-18 | 2022-11-15 | 交通运输部公路科学研究所 | 自动驾驶车辆在途组队方法、装置及电子设备 |
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CN105160865A (zh) | 2015-08-05 | 2015-12-16 | 深圳市航盛电子股份有限公司 | 一种车辆编队行驶控制系统及方法 |
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DE102016001495B4 (de) * | 2016-02-10 | 2021-10-21 | Audi Ag | Verfahren zum Betreiben eines zumindest zeitweise elektrisch antreibbaren Kraftfahrzeugs, Steuergerät für ein Kraftfahrzeug sowie entsprechendes Kraftfahrzeug |
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US10737667B2 (en) * | 2016-06-23 | 2020-08-11 | Honda Motor Co., Ltd. | System and method for vehicle control in tailgating situations |
US10290214B2 (en) * | 2017-04-11 | 2019-05-14 | Denso International America, Inc. | Lane change system and lane change controller |
-
2016
- 2016-01-26 KR KR1020160009122A patent/KR101807386B1/ko active IP Right Grant
-
2017
- 2017-01-25 DE DE102017000646.6A patent/DE102017000646A1/de active Pending
- 2017-01-25 US US15/414,624 patent/US10788843B2/en active Active
- 2017-01-26 CN CN201710126234.4A patent/CN107054367B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
KR20170089121A (ko) | 2017-08-03 |
US20170212527A1 (en) | 2017-07-27 |
CN107054367A (zh) | 2017-08-18 |
DE102017000646A1 (de) | 2017-07-27 |
US10788843B2 (en) | 2020-09-29 |
KR101807386B1 (ko) | 2018-01-10 |
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