CN107195176A - Control method and device for fleet - Google Patents

Control method and device for fleet Download PDF

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Publication number
CN107195176A
CN107195176A CN201710552977.8A CN201710552977A CN107195176A CN 107195176 A CN107195176 A CN 107195176A CN 201710552977 A CN201710552977 A CN 201710552977A CN 107195176 A CN107195176 A CN 107195176A
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CN
China
Prior art keywords
car
navigator
condition information
running condition
following
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CN201710552977.8A
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Chinese (zh)
Inventor
赵学岩
陈效华
陈新
李彪
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北京汽车集团有限公司
北京汽车研究总院有限公司
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Application filed by 北京汽车集团有限公司, 北京汽车研究总院有限公司 filed Critical 北京汽车集团有限公司
Priority to CN201710552977.8A priority Critical patent/CN107195176A/en
Publication of CN107195176A publication Critical patent/CN107195176A/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
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02DCLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THIR OWN ENERGY USE
    • Y02D70/00Techniques for reducing energy consumption in wireless communication networks
    • Y02D70/10Techniques for reducing energy consumption in wireless communication networks according to the Radio Access Technology [RAT]
    • Y02D70/12Techniques for reducing energy consumption in wireless communication networks according to the Radio Access Technology [RAT] in 3rd Generation Partnership Project [3GPP] networks
    • Y02D70/126Techniques for reducing energy consumption in wireless communication networks according to the Radio Access Technology [RAT] in 3rd Generation Partnership Project [3GPP] networks in 4th generation [4G] networks

Abstract

This disclosure relates to a kind of control method and device for fleet.The fleet includes navigator's car and Following Car.Method applied to navigator's car includes:The running condition information of navigator's car is obtained, the running condition information of navigator's car includes speed, the angle of steering wheel of navigator's car;The running condition information of navigator's car is sent to the Following Car using the LTE V communication technologys, so that running condition information automatic Pilot of the Following Car according to navigator's car.So, with the road, vehicle location and the obstacle information that are perceived using onboard sensor using routine come compared with automatic Pilot, pass through the LTE V communication technologys, Following Car in fleet can more rapidly be accurately received the navigation information of its automatic Pilot, with relatively low time delay and higher reliability, driving efficiency is improved, security is added, energy consumption is reduced.

Description

Control method and device for fleet

Technical field

This disclosure relates to vehicle communication field, in particular it relates to a kind of control method and device for fleet.

Background technology

With the development and the popularization of vehicle of the communication technology, smart machine is applied among vehicle more and more, is The trip by bus of people offers convenience, and improves experiencing by bus for user.Also, it is unprecedented with the unmanned technology of vehicle Development, not only single unit vehicle can realize unmanned, multiple vehicles can also be constituted fleet, carry out unified planning and pipe Reason.

In unmanned technology, vehicle-periphery is perceived using onboard sensor, and obtained according to perceiving Road, vehicle location and obstacle information, control steering and the speed of vehicle, so as to enable the vehicle to reliably and securely in road Travelled on road.

The content of the invention

The purpose of the disclosure is to provide a kind of simple efficient control method and device for fleet.

To achieve these goals, the disclosure provides a kind of control method for fleet, and the fleet includes navigator's car And Following Car, methods described is applied to navigator's car.Methods described includes:The running condition information of navigator's car is obtained, it is described The running condition information of navigator's car includes speed, the angle of steering wheel of navigator's car;By the transport condition of navigator's car The Information Pull LTE-V communication technologys are sent to the Following Car, so that transport condition of the Following Car according to navigator's car Information automatic Pilot.

Alternatively, methods described also includes:Receive the Following Car that the Following Car utilizes the LTE-V communication technologys to send Running condition information, the running condition information of the Following Car includes speed, the angle of steering wheel of the Following Car;Work as institute When the running condition information of the running condition information and navigator's car of stating Following Car is mismatched, prompting message is exported.

Alternatively, methods described also includes:Receive the Following Car judge the running condition information of the Following Car and When the running condition information of navigator's car is mismatched, the prompting message sent using the LTE-V communication technologys, the Following Car Running condition information includes speed, the angle of steering wheel of the Following Car;Export the prompting message.

The disclosure also provides a kind of control method for fleet, and the fleet includes navigator's car and Following Car, the side Method is applied to Following Car.Methods described includes:Receive navigator's car that navigator's car is sent using the LTE-V communication technologys Running condition information, the running condition information of navigator's car includes speed, the angle of steering wheel of navigator's car;According to institute The running condition information for stating navigator's car controls the Following Car automatic Pilot.

Alternatively, methods described also includes:Obtain the running condition information of the Following Car, the traveling shape of the Following Car State information includes speed, the angle of steering wheel of the Following Car;The running condition information of the Following Car is led to using LTE-V Letter technology is sent to navigator's car, so that navigator's car is judging the running condition information of the Following Car and the navigator When the running condition information of car is mismatched, prompting message is exported.

Alternatively, methods described also includes:Obtain the running condition information of the Following Car, the traveling shape of the Following Car State information includes speed, the angle of steering wheel of the Following Car;Judge the running condition information and the neck of the Following Car Whether the running condition information of boat car matches;In the running condition information and the traveling shape of navigator's car for judging the Following Car When state information is mismatched, prompting message is sent to navigator's car using the LTE-V communication technologys, so that navigator's car exports institute State prompting message.

Alternatively, the step of control Following Car automatic Pilot according to the running condition information of navigator's car is wrapped Include:When having barrier in preset range in front of the Following Car, the position of the barrier is obtained;According to the barrier The running condition information of position and navigator's car controls the Following Car automatic Pilot.

The disclosure also provides a kind of control device for fleet, and the fleet includes navigator's car and Following Car, the dress Put applied to navigator's car.Described device includes:First acquisition module, the running condition information for obtaining navigator's car, institute Stating the running condition information of navigator's car includes speed, the angle of steering wheel of navigator's car;First sending module, for by institute The running condition information for stating navigator's car is sent to the Following Car using the LTE-V communication technologys, so that the Following Car is according to institute State the running condition information automatic Pilot of navigator's car.

The disclosure also provides a kind of control device for fleet, and the fleet includes navigator's car and Following Car, the dress Put applied to Following Car.Described device includes:3rd receiving module, the LTE-V communication technologys are utilized for receiving navigator's car The running condition information of the navigator's car sent, speed of the running condition information including navigator's car of navigator's car, The angle of steering wheel;Control module, for controlling the Following Car automatic Pilot according to the running condition information of navigator's car.

By above-mentioned technical proposal, in fleet, navigator's car sends the row of itself by the LTE-V communication technologys to Following Car Status information is sailed, so that Following Car carries out automatic Pilot according to the running condition information.So, with using conventional utilization vehicle-mounted Road, the vehicle location of sensor senses carry out automatic Pilot with obstacle information and compared, and pass through the LTE-V communication technologys, fleet In Following Car can more rapidly be accurately received the navigation information of its automatic Pilot, with relatively low time delay and it is higher can By property, driving efficiency is improved, security is added, energy consumption is reduced.

Other feature and advantage of the disclosure will be described in detail in subsequent embodiment part.

Brief description of the drawings

Accompanying drawing is, for providing further understanding of the disclosure, and to constitute a part for specification, with following tool Body embodiment is used to explain the disclosure together, but does not constitute limitation of this disclosure.In the accompanying drawings:

Fig. 1 is the flow chart for the control method for fleet that an exemplary embodiment is provided;

Fig. 2 is the flow chart for the control method for fleet that another exemplary embodiment is provided;

Fig. 3 is the flow chart for the control method for fleet that further example embodiment is provided;

Fig. 4 is the flow chart for the control method for fleet that an exemplary embodiment is provided;

Fig. 5 is the flow chart for the control method for fleet that another exemplary embodiment is provided;

Fig. 6 is the flow chart for the control method for fleet that further example embodiment is provided;

Fig. 7 is the flow chart for the control method for fleet that further example embodiment is provided;

Fig. 8 is the signaling diagram in Fig. 2 and Fig. 5 embodiment;

Fig. 9 is the structured flowchart for the control device for fleet that an exemplary embodiment is provided;

Figure 10 is the structured flowchart for the control device for fleet that an exemplary embodiment is provided.

Embodiment

It is described in detail below in conjunction with accompanying drawing embodiment of this disclosure.It should be appreciated that this place is retouched The embodiment stated is merely to illustrate and explained the disclosure, is not limited to the disclosure.

LTE-V (Long Term Evolution-Vehicle) technology refers to car networking technology.LTE-V technologies are with LTE Technology (4G/5G) based on R14 technologies, by LTE-V-D and the big technologies of LTE-V-Cell two, support include V2I, V2V and The types of applications such as V2P.

Existing vehicle group is largely the mode based on conventional network server.Fleet member obtains from server end and led Boat information, then sets the vehicle line of itself.In addition, in the automatic Pilot technology of vehicle, vehicle is typically to depend on certainly What the perception data of body sensor drove to plan itself.During vehicle group, vehicle often relies on the biography such as camera and radar Sensor tracking front truck traveling.So, the delayed of the action of Following Car in fleet is often caused.If running into emergency, than Such as front truck emergency brake, what rear car was detected according to onboard sensor diminishes with the spacing of front truck and controls brake, delayed larger, Serious consequence may be produced.Thus, inventor expects, when vehicle group is travelled, can be between navigator's car and Following Car It is in communication with each other using the LTE-V communication technologys, such navigation data can more directly, be rapidly sent to Following Car, realized The automatic Pilot of Following Car, improves driving efficiency, adds security, reduce energy consumption.

Fig. 1 is the flow chart for the control method for fleet that an exemplary embodiment is provided.The fleet includes navigating Car and Following Car, methods described are applied to navigator's car.As shown in figure 1, methods described may comprise steps of.

In step s 11, the running condition information of navigator's car is obtained, the running condition information of navigator's car includes navigator's car Speed, the angle of steering wheel.

In step s 12, the running condition information of navigator's car is sent to Following Car using the LTE-V communication technologys, so that Following Car is according to the running condition information automatic Pilot of navigator's car.

In fleet, navigator's car can be a car, be driven by driver.Following Car can be one or many, according to Automatic Pilot technology is travelled, i.e., unmanned.It can be provided with based on the LTE-V communication technologys in each vehicle of fleet Equipment, the equipment can realize the information mutual communication between vehicle by the LTE-V communication technologys.

In the embodiment, navigator's car can be sent its speed, the angle of steering wheel to following using the LTE-V communication technologys Car, Following Car for example can be using the speed of navigator's car as target velocity, and using the steering wheel of navigator's car as itself steering wheel Angle on target, to control automatic Pilot.So, Following Car can keep higher uniformity with the transport condition of navigator's car, It can be travelled between each vehicle of fleet with changeless relative position.

In addition to speed, the angle of steering wheel, the running condition information of navigator's car can also include the acceleration of navigator's car Degree, brake signal, wheelpath etc..Following Car can control each running condition information of navigator's car as target certainly The traveling of body, with the uniformity for the vehicle travelling state that keeps and navigate.It is understood that the running condition information of navigator's car is got over Many, the transport condition uniformity of Following Car and navigator's car is higher.

The running condition information of navigator's car can be obtained by the onboard sensor of navigator's car itself installation, can also be come Data from the bus or vehicle management system of navigator's car.It is not described in detail herein.

By above-mentioned technical proposal, in fleet, navigator's car sends the row of itself by the LTE-V communication technologys to Following Car Status information is sailed, so that Following Car carries out automatic Pilot according to the running condition information.So, with using conventional utilization vehicle-mounted Road, the vehicle location of sensor senses carry out automatic Pilot with obstacle information and compared, and pass through the LTE-V communication technologys, fleet In Following Car can more rapidly be accurately received the navigation information of its automatic Pilot, with relatively low time delay and it is higher can By property, driving efficiency is improved, security is added, energy consumption is reduced.

During fleet travels, Following Car is different from the real time position of navigator's car, and Following Car is likely to be encountered special feelings Condition and be forced parking, or deviate from the route of fleet.Therefore, navigator's car can also be obtained using the LTE-V communication technologys and followed The running condition information of car, so, the traveling that the driver of navigator's car can be accordingly to navigator's car are adjusted in time.Fig. 2 is The flow chart for the control method for fleet that another exemplary embodiment is provided.As shown in Fig. 2 on the basis of Fig. 1, upper State after step S12, methods described can also comprise the following steps.

In step s 13, the running condition information for the Following Car that Following Car is sent using the LTE-V communication technologys is received.With It can include speed, the angle of steering wheel of Following Car with the running condition information of car.

In step S14, when the running condition information of Following Car is mismatched with the running condition information of navigator's car, output Prompting message.

Wherein, in addition to speed, the angle of steering wheel, the running condition information of Following Car can also include Following Car Acceleration, brake signal, wheelpath etc..

Specifically, judge whether the running condition information of Following Car matches with the running condition information of navigator's car, Ke Yigen A threshold range is determined according to the running condition information of navigator's car, when the running condition information of Following Car is in the threshold range When, it is believed that the running condition information of Following Car is matched with the running condition information of navigator's car, when the running condition information of Following Car When outside the threshold range, it is believed that the running condition information of Following Car is mismatched with the running condition information of navigator's car.Example Such as, the speed of navigator's car is 30km/h, and range threshold could be arranged to 28km/h~32km/h.It is considered that when Following Car speed It is matching during for 31km/h, is then mismatch during 33km/h.The threshold range can be set according to user's request or experience.

When the running condition information of Following Car is matched with the running condition information of navigator's car, navigator's car can be recorded automatically The information, but without output., can be with when the running condition information of running condition information and the navigator's car of Following Car is mismatched Output prompting message is pointed out driver, to be decided whether to take corresponding measure by driver.

Output prompting message can be implemented by the various modes such as voice, buzzer, light.For example, wheat can be passed through The output voice message of gram wind:No. 2 vehicle speed exceptions, it is noted that!

In the embodiment, navigator's car obtains the running condition information of Following Car using the LTE-V communication technologys and monitored in real time, So, the abnormal conditions of Following Car can be understood quickly in the driver of navigator's car, be easy to make corresponding adjustment in time.

In the embodiment of fig. 2, the running condition information of Following Car and the running condition information of navigator's car whether match by Navigator's car judges that what Following Car was sent to navigator's car is the running condition information of itself.In other embodiments, if matching It can also be judged by Following Car.Fig. 3 is the flow chart for the control method for fleet that further example embodiment is provided.Such as Shown in Fig. 3, on the basis of Fig. 1, after above-mentioned steps S12, methods described can also comprise the following steps.

In step S15, receive Following Car and judging the transport condition letter of the running condition information of Following Car and navigator's car When breath is mismatched, the prompting message sent using the LTE-V communication technologys, the running condition information of Following Car includes the speed of Following Car Degree, the angle of steering wheel.

In step s 16, prompting message is exported.

The difference of the embodiment and Fig. 2 example is, if matching is judged by Following Car.Following Car is directly to neck Boat car sends prompting message when being judged to mismatching.

When the running condition information of Following Car is matched with the running condition information of navigator's car, Following Car can be periodically The message for representing matching is sent to navigator's car.Navigator's car can record the message automatically, but not export.Navigator's car can be set Do not receive the message of the expression matching of Following Car in scheduled duration, export corresponding message yet and pointed out.For example, can lead to Cross microphone output voice message:No. 2 signals of vehicles are lost, it is noted that!When the running condition information and navigator's car of Following Car When running condition information is mismatched, Following Car can send prompting message to navigator's car immediately.

In the embodiment, due to being that Following Car is judged, compared with carrying out judgement by navigator's car, for navigator Che Lai Say, reduce data processing amount, save memory space, accelerate processing speed.Similarly, the figure judged by navigator's car In 2 embodiment, for Following Car, data processing amount is reduced, memory space is saved, processing speed is accelerated.

Above-described embodiment is the method applied to navigator's car.The disclosure additionally provides the corresponding method for Following Car. Fig. 4 is the flow chart for the control method for fleet that an exemplary embodiment is provided.The fleet includes navigator's car and followed Car.Methods described is applied to Following Car.As shown in figure 4, methods described may comprise steps of.

In the step s 21, the running condition information for navigator's car that navigator's car is sent using the LTE-V communication technologys is received.Neck The running condition information of boat car includes speed, the angle of steering wheel of navigator's car.

In step S22, Following Car automatic Pilot is controlled according to the running condition information of navigator's car.

The embodiment corresponds to Fig. 1 embodiment, and here is omitted for particular content.

By above-mentioned technical proposal, in fleet, navigator's car sends the row of itself by the LTE-V communication technologys to Following Car Status information is sailed, so that Following Car carries out automatic Pilot according to the running condition information.So, with using conventional utilization vehicle-mounted Road, the vehicle location of sensor senses carry out automatic Pilot with obstacle information and compared, and pass through the LTE-V communication technologys, fleet In Following Car can more rapidly be accurately received the navigation information of its automatic Pilot, with relatively low time delay and it is higher can By property, driving efficiency is improved, security is added, energy consumption is reduced.

In addition, the running condition information of itself using the LTE-V communication technologys can also be sent to navigator's car by Following Car, this Sample, the traveling that the driver of navigator's car can be accordingly to navigator's car is adjusted in time.Fig. 5 is that another exemplary embodiment is provided The control method for fleet flow chart.As shown in figure 5, on the basis of Fig. 4, after above-mentioned steps S22, the side Method can also comprise the following steps.

In step S23, the running condition information of Following Car is obtained.The running condition information of Following Car includes Following Car Speed, the angle of steering wheel.

In step s 24, the running condition information of Following Car is sent to navigator's car using the LTE-V communication technologys, so that Navigator's car exports prompting message when the running condition information for judging the running condition information of Following Car and navigator's car is mismatched.

The embodiment corresponds in Fig. 2 embodiment, the embodiment, and navigator's car is obtained using the LTE-V communication technologys and followed The running condition information of car is simultaneously monitored in real time, so, and the abnormal conditions of Following Car can be understood quickly in the driver of navigator's car, It is easy to make corresponding adjustment in time.

In the 5 embodiment of figure 5, the running condition information of Following Car and the running condition information of navigator's car whether match by Navigator's car judges that what Following Car was sent to navigator's car is the running condition information of itself.In other embodiments, if matching It can also be judged by Following Car.Fig. 6 is the flow chart for the control method for fleet that further example embodiment is provided.Such as Shown in Fig. 6, on the basis of Fig. 4, after above-mentioned steps S22, methods described can also comprise the following steps.

In step S23, the running condition information of Following Car is obtained.The running condition information of Following Car can include following The speed of car, the angle of steering wheel.

In step s 25, judge whether the running condition information of Following Car and the running condition information of navigator's car match.

In step S26, when the running condition information for judging the running condition information of Following Car and navigator's car is mismatched, Prompting message is sent to navigator's car using the LTE-V communication technologys, so that navigator's car exports prompting message.

Whether the difference with Fig. 5 example is to match by Following Car to judge in Fig. 6 embodiment.Following Car is straight Connect prompting message when mismatch is sent to navigator's car.The embodiment corresponds in Fig. 3 embodiment, the embodiment, due to being Following Car is judged, compared with carrying out judgement by navigator's car, for navigator's car, is reduced data processing amount, is saved Memory space, accelerates processing speed.Similarly, in the Fig. 5 judged by navigator's car embodiment, come for Following Car Say, reduce data processing amount, save memory space, accelerate processing speed.

Fig. 7 is the flow chart for the control method for fleet that further example embodiment is provided.As shown in fig. 7, in Fig. 4 On the basis of, it is above-mentioned according to the running condition information of navigator's car control Following Car automatic Pilot the step of (step S22) can wrap Include following steps.

In step S221, when having barrier in preset range in front of Following Car, the position of barrier is obtained.

In step S222, control Following Car automatic according to the running condition information of the position of the barrier and navigator's car Drive.

Described preset range refers to, when barrier is in the preset range, there is larger collision possibility.Predetermined model Enclose can rule of thumb or experiment obtain, for example, 3 meters.By sensors such as radars barrier can be detected relative to vehicle Position.

, can be using avoiding obstacles as main purpose when front detects barrier, the state of appropriate combination navigator's car Information controls Following Car automatic Pilot, it may be necessary to first control Following Car emergency brake to ensure the safety of Following Car, it Afterwards, the status information further according to navigator's car continues to control Following Car automatic Pilot.

Furthermore it is also possible to detect whether Following Car just travels in line ball, if press against lane line traveling, can first it control Following Car processed makes its regulation between two lane lines, and the status information further according to navigator's car continues to control Following Car to drive automatically Sail.

In the embodiment, Following Car can follow navigator's car automatic Pilot in the case where preferentially ensureing inherently safe, from And avoid unnecessary accident and occur, enhance the reliability of fleet.

It is understood that above example is in the case of reconcilable, its technical characteristic can be merged mutually.Figure 8 be the signaling diagram in Fig. 2 and Fig. 5 embodiment.

The disclosure additionally provides the device corresponding to the above method.Fig. 9 is exemplary embodiment offer for fleet Control device structured flowchart.The fleet includes navigator's car and Following Car.The control device for fleet is applied to Navigator's car.As shown in figure 9, the control device 10 for fleet can include the first acquisition module 11 and the first sending module 12。

First acquisition module 11 is used for the running condition information for obtaining navigator's car, and the running condition information of navigator's car includes neck Speed, the angle of steering wheel of boat car.

First sending module 12 is used to using the LTE-V communication technologys send the running condition information of navigator's car to following Car, so that running condition information automatic Pilot of the Following Car according to navigator's car.

Alternatively, described device 10 can also include the first receiving module and the first output module.

First receiving module is used for the transport condition letter for receiving the Following Car that Following Car is sent using the LTE-V communication technologys Breath, the running condition information of Following Car includes speed, the angle of steering wheel of Following Car.

First output module is used for when the running condition information of Following Car is mismatched with the running condition information of navigator's car, Export prompting message.

Alternatively, described device 10 can also include the second receiving module and the second output module.

Second receiving module is used to receive Following Car in the running condition information for judging Following Car and the traveling shape of navigator's car When state information is mismatched, the prompting message sent using the LTE-V communication technologys, the running condition information of Following Car includes Following Car Speed, the angle of steering wheel.

Second output module is used to export prompting message.

Figure 10 is the structured flowchart for the control device for fleet that an exemplary embodiment is provided.The fleet includes neck Navigate car and Following Car.The control device for fleet is applied to Following Car.As shown in Figure 10, the control for fleet Device 20 can include the 3rd receiving module 21 and control module 22.

3rd receiving module 21 is used for the transport condition letter for receiving navigator's car that navigator's car is sent using the LTE-V communication technologys Breath.The running condition information of navigator's car includes speed, the angle of steering wheel of navigator's car.

Control module 22 is used to control Following Car automatic Pilot according to the running condition information of navigator's car.

Alternatively, described device 20 can also include the second acquisition module and the second sending module.

Second acquisition module is used for the running condition information for obtaining Following Car.The running condition information of Following Car includes following The speed of car, the angle of steering wheel.

Second sending module is used to using the LTE-V communication technologys send the running condition information of Following Car to navigator's car, So that navigator's car is when the running condition information for judging the running condition information of Following Car and navigator's car is mismatched, output prompting disappears Breath.

Alternatively, described device 20 can also include the 3rd acquisition module, judge module and the 3rd sending module.

3rd acquisition module is used for the running condition information for obtaining Following Car, and the running condition information of Following Car includes following The speed of car, the angle of steering wheel.

Judge module is used to judge whether the running condition information of Following Car and the running condition information of navigator's car match.

3rd sending module is used to not judge the running condition information of the running condition information of Following Car and navigator's car not Timing, prompting message is sent using the LTE-V communication technologys to navigator's car, so that navigator's car exports prompting message.

Alternatively, the control module 22 can include acquisition submodule and control submodule.

Acquisition submodule is used to, when having barrier in preset range in front of Following Car, obtain the position of barrier.

Control submodule is used to be driven automatically according to the position of barrier and the running condition information control Following Car of navigator's car Sail.

On the device in above-described embodiment, wherein modules perform the concrete mode of operation in relevant this method Embodiment in be described in detail, explanation will be not set forth in detail herein.

By above-mentioned technical proposal, in fleet, navigator's car sends the row of itself by the LTE-V communication technologys to Following Car Status information is sailed, so that Following Car carries out automatic Pilot according to the running condition information.So, with using conventional utilization vehicle-mounted Road, the vehicle location of sensor senses carry out automatic Pilot with obstacle information and compared, and pass through the LTE-V communication technologys, fleet In Following Car can more rapidly be accurately received the navigation information of its automatic Pilot, with relatively low time delay and it is higher can By property, driving efficiency is improved, security is added, energy consumption is reduced.

The preferred embodiment of the disclosure is described in detail above in association with accompanying drawing, still, the disclosure is not limited to above-mentioned reality The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out with technical scheme of this disclosure Monotropic type, these simple variants belong to the protection domain of the disclosure.

It is further to note that each particular technique feature described in above-mentioned embodiment, in not lance In the case of shield, it can be combined by any suitable means.In order to avoid unnecessary repetition, the disclosure to it is various can The combination of energy no longer separately illustrates.

In addition, can also be combined between a variety of embodiments of the disclosure, as long as it is without prejudice to originally Disclosed thought, it should equally be considered as disclosure disclosure of that.

Claims (14)

1. a kind of control method for fleet, the fleet includes navigator's car and Following Car, methods described is applied to navigator's car, Characterized in that, methods described includes:
The running condition information of navigator's car is obtained, the running condition information of navigator's car includes the speed of navigator's car Degree, the angle of steering wheel;
The running condition information of navigator's car is sent to the Following Car using the LTE-V communication technologys, so that described follow Car is according to the running condition information automatic Pilot of navigator's car.
2. according to the method described in claim 1, it is characterised in that methods described also includes:
Receive the running condition information for the Following Car that the Following Car is sent using the LTE-V communication technologys, the Following Car Running condition information include speed, the angle of steering wheel of the Following Car;
When the running condition information of the Following Car is mismatched with the running condition information of navigator's car, output prompting disappears Breath.
3. according to the method described in claim 1, it is characterised in that methods described also includes:
Receive the Following Car and judge the running condition information of the running condition information of the Following Car and navigator's car not During matching, the prompting message sent using the LTE-V communication technologys, the running condition information of the Following Car includes the Following Car Speed, the angle of steering wheel;
Export the prompting message.
4. a kind of control method for fleet, the fleet includes navigator's car and Following Car, methods described is applied to Following Car, Characterized in that, methods described includes:
Receive the running condition information for navigator's car that navigator's car is sent using the LTE-V communication technologys, navigator's car Running condition information include speed, the angle of steering wheel of navigator's car;
The Following Car automatic Pilot is controlled according to the running condition information of navigator's car.
5. method according to claim 4, it is characterised in that methods described also includes:
The running condition information of the Following Car is obtained, the running condition information of the Following Car includes the speed of the Following Car Degree, the angle of steering wheel;
The running condition information of the Following Car is sent to navigator's car using the LTE-V communication technologys, so that described navigate Car is when the running condition information for judging the running condition information of the Following Car and navigator's car is mismatched, and output prompting disappears Breath.
6. method according to claim 4, it is characterised in that methods described also includes:
The running condition information of the Following Car is obtained, the running condition information of the Following Car includes the speed of the Following Car Degree, the angle of steering wheel;
Judge whether the running condition information of the Following Car and the running condition information of navigator's car match;
When the running condition information for judging the running condition information of the Following Car and navigator's car is mismatched, LTE- is utilized The V communication technologys send prompting message to navigator's car, so that navigator's car exports the prompting message.
7. the method according to any claim in claim 4-6, it is characterised in that described according to navigator's car The step of running condition information controls the Following Car automatic Pilot includes:
When having barrier in preset range in front of the Following Car, the position of the barrier is obtained;
The Following Car automatic Pilot is controlled according to the running condition information of the position of the barrier and navigator's car.
8. a kind of control device for fleet, the fleet includes navigator's car and Following Car, described device is applied to navigator's car, Characterized in that, described device includes:
First acquisition module, the running condition information for obtaining navigator's car, the running condition information bag of navigator's car Include speed, the angle of steering wheel of navigator's car;
First sending module, for by the running condition information of navigator's car using the LTE-V communication technologys send to it is described with With car, so that running condition information automatic Pilot of the Following Car according to navigator's car.
9. device according to claim 8, it is characterised in that described device also includes:
First receiving module, the traveling shape for receiving the Following Car that the Following Car is sent using the LTE-V communication technologys State information, the running condition information of the Following Car includes speed, the angle of steering wheel of the Following Car;
First output module, running condition information for the running condition information when the Following Car and navigator's car is not Timing, exports prompting message.
10. device according to claim 8, it is characterised in that described device also includes:
Second receiving module, the running condition information and navigator's car of the Following Car are being judged for receiving the Following Car Running condition information mismatch when, utilize the LTE-V communication technologys send prompting message, the Following Car transport condition letter Breath includes speed, the angle of steering wheel of the Following Car;
Second output module, for exporting the prompting message.
11. a kind of control device for fleet, the fleet includes navigator's car and Following Car, described device is applied to follow Car, it is characterised in that described device includes:
3rd receiving module, the traveling shape for receiving navigator's car that navigator's car is sent using the LTE-V communication technologys State information, the running condition information of navigator's car includes speed, the angle of steering wheel of navigator's car;
Control module, for controlling the Following Car automatic Pilot according to the running condition information of navigator's car.
12. device according to claim 11, it is characterised in that described device also includes:
Second acquisition module, the running condition information for obtaining the Following Car, the running condition information bag of the Following Car Include speed, the angle of steering wheel of the Following Car;
Second sending module, for the running condition information of the Following Car to be sent to the neck using the LTE-V communication technologys Navigate car, so that navigator's car is judging the running condition information of the running condition information of the Following Car and navigator's car not During matching, prompting message is exported.
13. device according to claim 11, it is characterised in that described device also includes:
3rd acquisition module, the running condition information for obtaining the Following Car, the running condition information bag of the Following Car Include speed, the angle of steering wheel of the Following Car;
Judge module, for judge the Following Car running condition information and navigator's car running condition information whether Match somebody with somebody;
3rd sending module, in the running condition information and the running condition information of navigator's car for judging the Following Car During mismatch, prompting message is sent to navigator's car using the LTE-V communication technologys, so that navigator's car exports the prompting Message.
14. the device according to any claim in claim 11-13, it is characterised in that the control module includes:
Acquisition submodule, for when having barrier in preset range in front of the Following Car, obtaining the position of the barrier;
Control submodule, for being followed described in the running condition information control of the position according to the barrier and navigator's car Car automatic Pilot.
CN201710552977.8A 2017-07-07 2017-07-07 Control method and device for fleet CN107195176A (en)

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