CN107274720A - A kind of autonomous driving vehicle and many car cooperative control methods, system - Google Patents
A kind of autonomous driving vehicle and many car cooperative control methods, system Download PDFInfo
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- CN107274720A CN107274720A CN201710313888.8A CN201710313888A CN107274720A CN 107274720 A CN107274720 A CN 107274720A CN 201710313888 A CN201710313888 A CN 201710313888A CN 107274720 A CN107274720 A CN 107274720A
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- 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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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Abstract
The present invention provides a kind of autonomous driving vehicle and many car cooperative control methods, system, wherein many car cooperative control methods include：This car receives the respective real-time travelling data that many other autonomous driving vehicles in preset distance carry out broadcast transmission respectively；This car judges whether this car has Collaborative Control demand according to the real-time travelling data of real-time travelling data and Ben Che of other autonomous driving vehicles of reception, is asked if any then Collaborative Control is sent to target autonomous driving vehicle；The response message asked for the Collaborative Control that this car is received and parsing target autonomous driving vehicle feeds back, if target autonomous driving vehicle determines to enter collaborative control pattern, then this car enters collaborative control pattern, controls this vehicle travelling state to reach Collaborative Control purpose.Using broadcast and orientation feedback twice between many autonomous driving vehicles of the invention, make the information exchange between autonomous driving vehicle more comprehensive, convenient, further increase security, the comfortableness of autonomous driving vehicle traveling.
Description
Technical field
The present invention relates to automobile technical field, more particularly to a kind of autonomous driving vehicle and many car cooperative control methods, it is
System.
Background technology
Current autonomous driving vehicle relies primarily on this car independent decision-making or high in the clouds instruction to command the operation of vehicle, is not directed to
The travelling data after renewal is not subjected to secondary feedback and shared after the completion of the collaboration of vehicle control scheme, and the decision-making of this car,
Decision information is not abundant enough, makes the driving safety and comfortableness of autonomous driving vehicle and can not be improved.
The content of the invention
The technical problems to be solved by the invention are to effectively improve the automatic of driving safety and comfortableness there is provided a kind of
Driving and many car cooperative control methods, system.
In order to solve the above-mentioned technical problem, the present invention provides a kind of many car cooperative control methods of autonomous driving vehicle, including：
This car receives the respective real-time travelling data that many other autonomous driving vehicles in preset distance carry out broadcast transmission respectively；
This car judges that this car is according to the real-time travelling data of real-time travelling data and Ben Che of other autonomous driving vehicles of reception
It is no to have Collaborative Control demand, asked if any then Collaborative Control is sent to target autonomous driving vehicle；
The response message asked for the Collaborative Control that this car is received and parsing target autonomous driving vehicle feeds back, if mesh
Mark autonomous driving vehicle determine enter collaborative control pattern, then this car enters collaborative control pattern, control this vehicle travelling state with
Reach Collaborative Control purpose.
Wherein, the control method also includes：
Target autonomous driving vehicle receives Collaborative Control request, according to itself travelling data collected, receives
The real-time travelling data and surrounding real-time traffic situation of other autonomous driving vehicles, judge whether response Collaborative Control request,
And response message is fed back into this car；
If target autonomous driving vehicle determines to enter collaborative control pattern, target autonomous driving vehicle is controlled according to the collaboration
System request controls itself transport condition to reach Collaborative Control purpose.
Wherein, if the Collaborative Control that target autonomous driving vehicle receives the transmission of other autonomous driving vehicles please simultaneously
Ask, and there is traveling conflict in the request of multiple Collaborative Controls, then determined to respond the collaboration of limit priority according to default priority
Control data, and refusal respond other Collaborative Controls request.
Wherein, this car is sent after Collaborative Control request to target autonomous driving vehicle, into Collaborative Control SBR, such as
Fruit target autonomous driving vehicle is rejected for entry into collaborative control pattern, then this car exits Collaborative Control SBR.
Wherein, this car completes to feed back Collaborative Control end signal to target autonomous driving vehicle after Collaborative Control and exits association
Same control model, target autonomous driving vehicle also exits collaborative control pattern after receiving the Collaborative Control end signal.
Wherein, the real-time travelling data include autonomous driving vehicle identification code name, the time, real time position, real-time speed,
One or more in travel direction, expected driving path and anticipatory behavior；
The feedback of the sending and receiving of real-time travelling data, the transmission of Collaborative Control request and response message uses V2X technologies,
The operating distance of broadcast is not less than 300 meters, and the time delay in operating distance from transmitting terminal to receiving terminal is less than 200 milliseconds.
The present invention also provides a kind of autonomous driving vehicle, including：
Acquisition module, for gathering the real-time travelling data of this car；
Communication module, the real-time travelling data of this car gathered for acquisition module described in broadcast transmission, and receive preset distance
Interior many other autonomous driving vehicles carry out the respective real-time travelling data of broadcast transmission respectively；
Collaborative Control module, for the real-time travelling data of other autonomous driving vehicles received according to the communication module and institute
The real-time travelling data of this car for stating acquisition module collection judges whether this car has Collaborative Control demand, if any then passing through the communication
Module sends Collaborative Control request to target autonomous driving vehicle；And for being driven automatically to the target that the communication module is received
Sail automobile feedback for the Collaborative Control ask response message parsed, if target autonomous driving vehicle determine into
Enter collaborative control pattern, then control this car to enter collaborative control pattern, control this vehicle travelling state to reach Collaborative Control purpose.
Wherein, the Collaborative Control module is additionally operable to send collaboration control to target autonomous driving vehicle in the communication module
After system request, this car is controlled to enter Collaborative Control SBR, and Collaborative Control is rejected for entry into target autonomous driving vehicle
During pattern, this car is controlled to exit Collaborative Control SBR；
The communication module is additionally operable to after this car completes Collaborative Control terminate to target autonomous driving vehicle feedback Collaborative Control
Signal, the analysis and Control module is additionally operable to control this car to exit association when the communication module feeds back Collaborative Control end signal
Same control model.
Wherein, the real-time travelling data include autonomous driving vehicle identification code name, the time, real time position, real-time speed,
Travel direction, expected driving path and anticipatory behavior, the communication module is automobile-used Long Term Evolution module or special short
Journey communication technology module, the operating distance of broadcast is not less than 300 meters, and the time delay in operating distance from transmitting terminal to receiving terminal is small
In 200 milliseconds.
The present invention also provides a kind of autonomous driving vehicle many car cooperative control systems, including：
Many other autonomous driving vehicles in this car and preset distance；
This car is used to receive the respective real-time driving that many other autonomous driving vehicles in preset distance carry out broadcast transmission respectively
Data；
This car is additionally operable to be judged according to the real-time travelling data of real-time travelling data and Ben Che of other autonomous driving vehicles of reception
Whether this car has Collaborative Control demand, is asked if any then Collaborative Control is sent to target autonomous driving vehicle；
This car is additionally operable to receive and parses the response message asked for the Collaborative Control of target autonomous driving vehicle feedback,
If target autonomous driving vehicle determines to enter collaborative control pattern, this car enters collaborative control pattern, controls this car to travel
State is to reach Collaborative Control purpose.
Wherein, the target autonomous driving vehicle is used for after the Collaborative Control request is received, according to what is collected
Itself travelling data, the real-time travelling data of other autonomous driving vehicles received and surrounding real-time traffic situation, judge
Collaborative Control request whether is responded, and response message is fed back into this car；
The target autonomous driving vehicle is additionally operable to after determining to enter collaborative control pattern, is asked to control according to the Collaborative Control
Itself transport condition is made to reach Collaborative Control purpose.
Wherein, described car is additionally operable to send after Collaborative Control request to target autonomous driving vehicle, into Collaborative Control
SBR, and when target autonomous driving vehicle is rejected for entry into collaborative control pattern, exit Collaborative Control SBR.
Wherein, described car is additionally operable to after Collaborative Control is completed terminate to target autonomous driving vehicle feedback Collaborative Control
Signal simultaneously exits collaborative control pattern, and the target autonomous driving vehicle is additionally operable to after the Collaborative Control end signal is received
Also collaborative control pattern is exited.
Wherein, the target autonomous driving vehicle is additionally operable to receive the collaboration of other autonomous driving vehicles transmission at the same time
Control data, and multiple Collaborative Controls request exist traveling conflict when, according to default priority determine response limit priority
Collaborative Control request, and refusal respond other Collaborative Controls request.
Wherein, the real-time travelling data include autonomous driving vehicle identification code name, the time, real time position, real-time speed,
Travel direction, expected driving path and anticipatory behavior；The the sending and receiving of real-time travelling data, the transmission of Collaborative Control request and
The feedback of response message uses V2X technologies, and the operating distance of broadcast is not less than 300 meters, in operating distance from transmitting terminal to
The time delay of receiving terminal is less than 200 milliseconds.
The beneficial effect of the embodiment of the present invention is：Using broadcast and orientation feedback twice between many autonomous driving vehicles
Both of which, makes the information exchange between autonomous driving vehicle more comprehensive, convenient, and Collaborative Control has higher reliability,
Security, comfortableness and the convenience of autonomous driving vehicle traveling are further increased, traffic efficiency is improved.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a kind of schematic flow sheet of many car cooperative control methods of the autonomous driving vehicle of the embodiment of the present invention one.
Fig. 2 is a kind of idiographic flow schematic diagram of many car cooperative control methods of the autonomous driving vehicle of the embodiment of the present invention one.
Embodiment
The explanation of following embodiment is refer to the attached drawing, can be to the specific embodiment implemented to the example present invention.
It refer to shown in Fig. 1, the embodiment of the present invention one provides a kind of autonomous driving vehicle many car cooperative control methods, wrap
Include：
This car receives the respective real-time travelling data that many other autonomous driving vehicles in preset distance carry out broadcast transmission respectively；
This car judges that this car is according to the real-time travelling data of real-time travelling data and Ben Che of other autonomous driving vehicles of reception
It is no to have Collaborative Control demand, asked if any then Collaborative Control is sent to target autonomous driving vehicle；
The response message asked for the Collaborative Control that this car is received and parsing target autonomous driving vehicle feeds back, if mesh
Mark autonomous driving vehicle determine enter collaborative control pattern, then this car enters collaborative control pattern, control this vehicle travelling state with
Reach Collaborative Control purpose.
The present embodiment is described in detail below in conjunction with Fig. 2.Including two automatic Pilots in preset distance shown in Fig. 2
Automobile：Autonomous driving vehicle 1 and autonomous driving vehicle 2, it is possible to understand that ground, the present embodiment is applicable to more autonomous driving vehicles
Situation, for sake of convenience, Fig. 2 illustrates the Collaborative Control process of the present embodiment only by taking two autonomous driving vehicles as an example, and
And the requesting party of Collaborative Control is used as using autonomous driving vehicle 2.
First, autonomous driving vehicle 1 and autonomous driving vehicle 2 gather this garage car data in real time by sensor, and
Broadcast transmission will be carried out after the travelling data collected processing, travelling data is shared.Travelling data includes automatic Pilot
Automobile identification code name, time, real time position, real-time speed, travel direction, expected driving path and anticipatory behavior etc..Collect
Travelling data handled according to predetermined coded system after carry out broadcast transmission again, to ensure the security and coding of data
Uniformity.In view of the security of information, encrypted it can be handled for autonomous driving vehicle identification code name.Send data and
Receive data and use V2X technologies（Vehicle to X, a kind of automobile and extraneous message-switching technique）, the working distance of broadcast
From not less than 300 meters, the time delay in operating distance from transmitting terminal to receiving terminal is less than 200 milliseconds.
Autonomous driving vehicle 2 receives the real-time travelling data of the broadcast transmission of autonomous driving vehicle 1, while according to Ben Checai
The real-time travelling data of collection determines whether Collaborative Control demand, if Collaborative Control demand, then enters Collaborative Control and prepare
State, Collaborative Control request is sent to autonomous driving vehicle 1（Feedback information I）.Autonomous driving vehicle 1 is then equivalent to Collaborative Control
Target autonomous driving vehicle.Collaborative Control is asked（Feedback information I）Target autonomous driving vehicle need to be included（Autonomous driving vehicle
1）Identification code name.It is to be appreciated that it is a Status Flag that autonomous driving vehicle 2, which enters Collaborative Control SBR, it is actual
Performing Collaborative Control action must just proceed by after the response message of autonomous driving vehicle 1 is received.
Autonomous driving vehicle 2 is according to the real-time travelling data and the real-time travelling datas of Ben Che of the autonomous driving vehicle 1 of reception
Judge whether this car has Collaborative Control demand, be specifically to this car driving safety, comfortableness and just according to these travelling datas
The influence of victory, to determine whether Collaborative Control demand.For example, autonomous driving vehicle 2 is same at the rear of autonomous driving vehicle 1
Travelled in one track, autonomous driving vehicle 2 is driven a vehicle in real time according to the real-time travelling data and Ben Che of the autonomous driving vehicle 1 of reception
Data have been found that continuing traveling by respective speed in real time can collide, it is necessary to overtaken other vehicles, i.e. now autonomous driving vehicle 2
There is Collaborative Control demand（The coordinated of autonomous driving vehicle 1 is needed so that autonomous driving vehicle 2 completes to overtake other vehicles）.If automatic
Driving 2 judges do not have Collaborative Control demand, then does not send Collaborative Control request, keep general control state.
Autonomous driving vehicle 1 receives the Collaborative Control request of the transmission of autonomous driving vehicle 2（Feedback information I）, then basis
Itself travelling data, the real-time travelling data of other autonomous driving vehicles received collected（Other autonomous driving vehicles
Including autonomous driving vehicle 2 similarly in broadcast transmission its own real-time travelling data）And surrounding real-time traffic situation, pass through
Analysis determines whether that response Collaborative Control request enters collaborative control pattern, and by response message（Feedback information II）Feed back to certainly
Dynamic driving 2.If autonomous driving vehicle 1 determines to enter collaborative control pattern, adjust itself transport condition to reach collaboration
Control purpose.It is to be appreciated that even from this garage car data, the real-time driving number of other autonomous driving vehicles received
According to that can determine to enter collaborative control pattern, but if real-time traffic situation does not allow, then autonomous driving vehicle 1 is still rejected by ringing
Collaborative Control is answered to ask.
Autonomous driving vehicle 2 receives autonomous driving vehicle 1（Target autonomous driving vehicle）That feeds back please for Collaborative Control
The response message asked（Feedback information II）And it is parsed, if the response Collaborative Control request of autonomous driving vehicle 1, it is determined that entering
Enter collaborative control pattern, autonomous driving vehicle 2 then controls itself transport condition, perform Collaborative Control action to reach Collaborative Control
Purpose；If the refusal Collaborative Control request of autonomous driving vehicle 1, is introduced into collaborative control pattern, then autonomous driving vehicle 2 is also exited
Collaborative Control SBR.
Autonomous driving vehicle 2 is completed after Collaborative Control, sends Collaborative Control end signal to autonomous driving vehicle 1, so that
Autonomous driving vehicle 1 exits collaborative control pattern, and then autonomous driving vehicle 2 also exits collaborative control pattern.
Illustrate above-mentioned Collaborative Control flow by two practical application examples again below.
First case：Overtake other vehicles：Autonomous driving vehicle 2 is travelled in the same track in rear of autonomous driving vehicle 1, automatic Pilot
Automobile 2 needs to overtake other vehicles to autonomous driving vehicle 1.
Autonomous driving vehicle 1 and autonomous driving vehicle 2 are obtained from the real-time travelling data of car by sensor.Automatic Pilot vapour
Car 1,2 broadcasts respective VIN, time, real time position, real-time speed, travel direction, expected driving path respectively
With the travelling data such as anticipatory behavior, while receiving the real-time driving number of other autonomous driving vehicle broadcast transmissions in preset distance
According to.
Autonomous driving vehicle 2 receives the real-time travelling data of autonomous driving vehicle 1, judges with reference to the real-time travelling data of this car
Need to carry out passing maneuver by the coordinated of autonomous driving vehicle 1, just send Collaborative Control request to autonomous driving vehicle 1（Instead
Feedforward information I）, ask autonomous driving vehicle 1 at the uniform velocity to be travelled in former track in order to which autonomous driving vehicle 2 is overtaken other vehicles.
Autonomous driving vehicle 1 receives the Collaborative Control request of autonomous driving vehicle 2, according to itself real-time travelling data, connects
The real-time travelling data and surrounding real-time traffic situation of other autonomous driving vehicles received judge that Collaborative Control mould can be entered
Formula, then into collaborative control pattern, control this car to be maintained in former track and at the uniform velocity travel and send collaboration to autonomous driving vehicle 2
Response message（Feedback information II）.If it is to be appreciated that real-time traffic situation does not allow autonomous driving vehicle 1 in former track
Remain a constant speed traveling, for example, will pass through zebra stripes, autonomous driving vehicle 1 need to slow down or Stop and give way, then autonomous driving vehicle 1
It is rejected by response Collaborative Control request.
Autonomous driving vehicle 2 receives feedback information II and parsed, and knows that autonomous driving vehicle 1 determines to enter Collaborative Control mould
Formula, then start to perform Collaborative Control action, control this car to overtake other vehicles autonomous driving vehicle 1.
After the completion of the passing maneuver of autonomous driving vehicle 2, send Collaborative Control end signal to autonomous driving vehicle 1 and exit
Collaborative control pattern, autonomous driving vehicle 1, which is received, also exits collaborative control pattern after Collaborative Control end signal, so far complete certainly
Between dynamic driving for the Collaborative Control overtaken other vehicles.
Second case：Meeting：Autonomous driving vehicle 1 and autonomous driving vehicle 2 meeting at the parting of the ways：
Autonomous driving vehicle 1 and autonomous driving vehicle 2 are obtained from the real-time travelling data of car by sensor.Autonomous driving vehicle 1,
2 broadcast respective VIN, time, real time position, real-time speed, travel direction, expected driving path and pre- respectively
The travelling datas such as phase behavior, while receiving the real-time travelling data of other autonomous driving vehicle broadcast transmissions in preset distance.
Autonomous driving vehicle 2 receives the real-time travelling data of autonomous driving vehicle 1, judges with reference to the real-time travelling data of this car
Go out to have in meeting the danger of collision, it is necessary to be avoided by the coordinated of automatic Pilot vapour 1, just sent out to autonomous driving vehicle 1
Collaborative Control is sent to ask（Feedback information I）, request autonomous driving vehicle 1, which slows down, to be avoided, and prevents from sending collision accident.
Autonomous driving vehicle 1 receives the Collaborative Control request of autonomous driving vehicle 2, according to itself real-time travelling data, connects
The real-time travelling data and surrounding real-time traffic situation of other autonomous driving vehicles received judge that Collaborative Control mould can be entered
Formula, then into collaborative control pattern, control the Reduced Speed Now of this car and send cooperative response information to autonomous driving vehicle 2（Feedback
Information II）.If avoided it is to be appreciated that real-time traffic situation does not allow autonomous driving vehicle 1 to slow down, such as automatic Pilot vapour
There is barrier to turn in front of car 1 to detour, then autonomous driving vehicle 1 is rejected by response Collaborative Control request.
Autonomous driving vehicle 2 receives feedback information II and parsed, and knows that autonomous driving vehicle 1 determines to enter Collaborative Control mould
Formula, then start to perform Collaborative Control action, control this car to drive through crossing.
After the completion of autonomous driving vehicle 2 is by crossing, sends Collaborative Control end signal to autonomous driving vehicle 1 and exit
Collaborative control pattern, autonomous driving vehicle 1 receives Collaborative Control end signal backed off after random collaborative control pattern, so far completes automatic
The Collaborative Control for meeting between driving.
It should be noted that in above-described embodiment, autonomous driving vehicle 2 is the sender of Collaborative Control request, and automatic
Driving 1 is the recipient of Collaborative Control request, if other autonomous driving vehicle 3,4 etc. is also to autonomous driving vehicle
1 initiates Collaborative Control request, and multiple Collaborative Controls ask have traveling to conflict, then is only capable of agreeing to one of response and refusing it
Remaining Collaborative Control request, can specifically be determined according to the priority of setting.Traveling conflict is often referred to the risk collided.
By described above, the beneficial effect of the embodiment of the present invention is：
Using broadcast and orientation feedback both of which twice between many autonomous driving vehicles, make the letter between autonomous driving vehicle
Breath interaction is more comprehensive, convenient, and Collaborative Control has higher reliability, further increases autonomous driving vehicle traveling
Security, comfortableness and convenience, improve traffic efficiency.
Corresponding to the embodiment of the present invention one, the embodiment of the present invention two provides a kind of autonomous driving vehicle, including：
Acquisition module, for gathering the real-time travelling data of this car；
Communication module, the real-time travelling data of this car gathered for acquisition module described in broadcast transmission, and receive preset distance
Interior many other autonomous driving vehicles carry out the respective real-time travelling data of broadcast transmission respectively；
Collaborative Control module, for the real-time travelling data of other autonomous driving vehicles received according to the communication module and institute
The real-time travelling data of this car for stating acquisition module collection judges whether this car has Collaborative Control demand, if any then passing through the communication
Module sends Collaborative Control request to target autonomous driving vehicle；And for being driven automatically to the target that the communication module is received
Sail automobile feedback for the Collaborative Control ask response message parsed, if target autonomous driving vehicle determine into
Enter collaborative control pattern, then control this car to enter collaborative control pattern, control this vehicle travelling state to reach Collaborative Control purpose.
Wherein, the Collaborative Control module is additionally operable to send collaboration control to target autonomous driving vehicle in the communication module
After system request, this car is controlled to enter Collaborative Control SBR, and Collaborative Control is rejected for entry into target autonomous driving vehicle
During pattern, this car is controlled to exit Collaborative Control SBR；
The communication module is additionally operable to after this car completes Collaborative Control terminate to target autonomous driving vehicle feedback Collaborative Control
Signal, the analysis and Control module is additionally operable to control this car to exit association when the communication module feeds back Collaborative Control end signal
Same control model.
Wherein, the real-time travelling data include autonomous driving vehicle identification code name, the time, real time position, real-time speed,
Travel direction, expected driving path and anticipatory behavior, the communication module is automobile-used Long Term Evolution module or special short
Journey communication technology module, the operating distance of broadcast is not less than 300 meters, and the time delay in operating distance from transmitting terminal to receiving terminal is small
In 200 milliseconds.
Corresponding to the embodiment of the present invention one, the embodiment of the present invention three provides a kind of autonomous driving vehicle many car Collaborative Control systems
System, including：
Many other autonomous driving vehicles in this car and preset distance；
This car is used to receive the respective real-time driving that many other autonomous driving vehicles in preset distance carry out broadcast transmission respectively
Data；
This car is additionally operable to be judged according to the real-time travelling data of real-time travelling data and Ben Che of other autonomous driving vehicles of reception
Whether this car has Collaborative Control demand, is asked if any then Collaborative Control is sent to target autonomous driving vehicle；
This car is additionally operable to receive and parses the response message asked for the Collaborative Control of target autonomous driving vehicle feedback,
If target autonomous driving vehicle determines to enter collaborative control pattern, this car enters collaborative control pattern, controls this car to travel
State is to reach Collaborative Control purpose.
Wherein, the target autonomous driving vehicle is used for after the Collaborative Control request is received, according to what is collected
Itself travelling data, the real-time travelling data of other autonomous driving vehicles received and surrounding real-time traffic situation, judge
Collaborative Control request whether is responded, and response message is fed back into this car；
The target autonomous driving vehicle is additionally operable to after determining to enter collaborative control pattern, is asked to control according to the Collaborative Control
Itself transport condition is made to reach Collaborative Control purpose.
Wherein, described car is additionally operable to send after Collaborative Control request to target autonomous driving vehicle, into Collaborative Control
SBR, and when target autonomous driving vehicle is rejected for entry into collaborative control pattern, exit Collaborative Control SBR.
Wherein, described car is additionally operable to after Collaborative Control is completed terminate to target autonomous driving vehicle feedback Collaborative Control
Signal simultaneously exits collaborative control pattern, and the target autonomous driving vehicle is additionally operable to after the Collaborative Control end signal is received
Also collaborative control pattern is exited.
Wherein, the target autonomous driving vehicle is additionally operable to receive the collaboration of other autonomous driving vehicles transmission at the same time
Control data, and multiple Collaborative Controls request exist traveling conflict when, according to default priority determine response limit priority
Collaborative Control request, and refusal respond other Collaborative Controls request.
Wherein, the real-time travelling data include autonomous driving vehicle identification code name, the time, real time position, real-time speed,
Travel direction, expected driving path and anticipatory behavior；The the sending and receiving of real-time travelling data, the transmission of Collaborative Control request and
The feedback of response message uses V2X technologies, and the operating distance of broadcast is not less than 300 meters, in operating distance from transmitting terminal to
The time delay of receiving terminal is less than 200 milliseconds.
About the operation principle and effect of the present embodiment two, three, referring to the description of the embodiment of the present invention one, no longer go to live in the household of one's in-laws on getting married herein
State.
Above disclosure is only preferred embodiment of present invention, can not limit the right model of the present invention with this certainly
Enclose, therefore the equivalent variations made according to the claims in the present invention, still belong to the scope that the present invention is covered.
Claims (15)
1. a kind of many car cooperative control methods of autonomous driving vehicle, including：
This car receives the respective real-time travelling data that many other autonomous driving vehicles in preset distance carry out broadcast transmission respectively；
This car judges that this car is according to the real-time travelling data of real-time travelling data and Ben Che of other autonomous driving vehicles of reception
It is no to have Collaborative Control demand, asked if any then Collaborative Control is sent to target autonomous driving vehicle；
The response message asked for the Collaborative Control that this car is received and parsing target autonomous driving vehicle feeds back, if mesh
Mark autonomous driving vehicle determine enter collaborative control pattern, then this car enters collaborative control pattern, control this vehicle travelling state with
Reach Collaborative Control purpose.
2. control method according to claim 1, it is characterised in that also include：
Target autonomous driving vehicle receives Collaborative Control request, according to itself travelling data collected, receives
The real-time travelling data and surrounding real-time traffic situation of other autonomous driving vehicles, judge whether response Collaborative Control request,
And response message is fed back into this car；
If target autonomous driving vehicle determines to enter collaborative control pattern, target autonomous driving vehicle is controlled according to the collaboration
System request controls itself transport condition to reach Collaborative Control purpose.
3. control method according to claim 2, it is characterised in that if target autonomous driving vehicle receives it simultaneously
The Collaborative Control request that his autonomous driving vehicle is sent, and there is traveling conflict in the request of multiple Collaborative Controls, then according to default
Priority determines the Collaborative Control request of response limit priority, and refusal respond other Collaborative Controls request.
4. control method according to claim 1, it is characterised in that this car sends collaboration control to target autonomous driving vehicle
After system request, into Collaborative Control SBR, if target autonomous driving vehicle is rejected for entry into collaborative control pattern, this car
Exit Collaborative Control SBR.
5. control method according to claim 1, it is characterised in that this car is completed after Collaborative Control to target automatic Pilot
Automobile feeds back Collaborative Control end signal and exits collaborative control pattern, and target autonomous driving vehicle receives the Collaborative Control knot
Collaborative control pattern is also exited after beam signal.
6. the control method according to claim any one of 1-5, it is characterised in that the real-time travelling data includes automatic
One in driving identification code name, time, real time position, real-time speed, travel direction, expected driving path and anticipatory behavior
Plant or a variety of；
The feedback of the sending and receiving of real-time travelling data, the transmission of Collaborative Control request and response message uses V2X technologies,
The operating distance of broadcast is not less than 300 meters, and the time delay in operating distance from transmitting terminal to receiving terminal is less than 200 milliseconds.
7. a kind of autonomous driving vehicle, it is characterised in that including：
Acquisition module, for gathering the real-time travelling data of this car；
Communication module, the real-time travelling data of this car gathered for acquisition module described in broadcast transmission, and receive preset distance
Interior many other autonomous driving vehicles carry out the respective real-time travelling data of broadcast transmission respectively；
Collaborative Control module, for the real-time travelling data of other autonomous driving vehicles received according to the communication module and institute
The real-time travelling data of this car for stating acquisition module collection judges whether this car has Collaborative Control demand, if any then passing through the communication
Module sends Collaborative Control request to target autonomous driving vehicle；And for being driven automatically to the target that the communication module is received
Sail automobile feedback for the Collaborative Control ask response message parsed, if target autonomous driving vehicle determine into
Enter collaborative control pattern, then control this car to enter collaborative control pattern, control this vehicle travelling state to reach Collaborative Control purpose.
8. autonomous driving vehicle according to claim 7, it is characterised in that the Collaborative Control module is additionally operable to described
Communication module is sent after Collaborative Control request to target autonomous driving vehicle, controls this car to enter Collaborative Control SBR, with
And when target autonomous driving vehicle is rejected for entry into collaborative control pattern, control this car to exit Collaborative Control SBR；
The communication module is additionally operable to after this car completes Collaborative Control terminate to target autonomous driving vehicle feedback Collaborative Control
Signal, the analysis and Control module is additionally operable to control this car to exit association when the communication module feeds back Collaborative Control end signal
Same control model.
9. the autonomous driving vehicle according to claim 7 or 8, it is characterised in that the real-time travelling data includes automatic
Driving identification code name, time, real time position, real-time speed, travel direction, expected driving path and anticipatory behavior, it is described
Communication module is automobile-used Long Term Evolution module or DSRC technology modules, and the operating distance of broadcast is not less than
300 meters, the time delay in operating distance from transmitting terminal to receiving terminal is less than 200 milliseconds.
10. a kind of many car cooperative control systems of autonomous driving vehicle, it is characterised in that including：
Many other autonomous driving vehicles in this car and preset distance；
This car is used to receive the respective real-time driving that many other autonomous driving vehicles in preset distance carry out broadcast transmission respectively
Data；
This car is additionally operable to be judged according to the real-time travelling data of real-time travelling data and Ben Che of other autonomous driving vehicles of reception
Whether this car has Collaborative Control demand, is asked if any then Collaborative Control is sent to target autonomous driving vehicle；
This car is additionally operable to receive and parses the response message asked for the Collaborative Control of target autonomous driving vehicle feedback,
If target autonomous driving vehicle determines to enter collaborative control pattern, this car enters collaborative control pattern, controls this car to travel
State is to reach Collaborative Control purpose.
11. control system according to claim 10, it is characterised in that the target autonomous driving vehicle is used to receive
To the Collaborative Control request after, according to itself travelling data collected, other autonomous driving vehicles received it is real-time
Travelling data and surrounding real-time traffic situation, judge whether response Collaborative Control request, and response message is fed back into this car；
The target autonomous driving vehicle is additionally operable to after determining to enter collaborative control pattern, is asked to control according to the Collaborative Control
Itself transport condition is made to reach Collaborative Control purpose.
12. control system according to claim 10, it is characterised in that described car is additionally operable to target automatic Pilot vapour
Car is sent after Collaborative Control request, into Collaborative Control SBR, and is rejected for entry into collaboration control in target autonomous driving vehicle
During molding formula, Collaborative Control SBR is exited.
13. control system according to claim 10, it is characterised in that described car is additionally operable to after Collaborative Control is completed
Collaborative Control end signal is fed back to target autonomous driving vehicle and exits collaborative control pattern, the target autonomous driving vehicle
It is additionally operable to also exit collaborative control pattern after the Collaborative Control end signal is received.
14. control system according to claim 10, it is characterised in that the target autonomous driving vehicle is additionally operable to same
When receive other autonomous driving vehicles transmission Collaborative Control request, and multiple Collaborative Controls request exist traveling conflict when,
The Collaborative Control request of response limit priority, and refusal respond other Collaborative Controls request are determined according to default priority.
15. the control system according to claim any one of 10-14, it is characterised in that the real-time travelling data includes
Autonomous driving vehicle identification code name, time, real time position, real-time speed, travel direction, expected driving path and anticipatory behavior；
The feedback of the sending and receiving of real-time travelling data, the transmission of Collaborative Control request and response message uses V2X technologies, broadcast
Operating distance be not less than 300 meters, time delay in operating distance from transmitting terminal to receiving terminal is less than 200 milliseconds.
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