CN107798861A - A kind of vehicle cooperative formula formation running method and system - Google Patents
A kind of vehicle cooperative formula formation running method and system Download PDFInfo
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Abstract
The invention belongs to vehicle net connection formula automatic Pilot field, a kind of vehicle cooperative formula formation running method and system are disclosed, by capturing the absolute location information of vehicle perception information and vehicle, carries out perception fusion, path planning, Decision Control；And road vehicle environmental information is integrated, realize the formation vehicle convergence of vehicle, with speeding, exiting, stopping and collaborative lane-change collaboration driving strategy.The present invention realizes connection and the intermodule direct communication of each module using 5G modes, install the low cost vehicle-mounted sensor such as vision and millimetre-wave radar additional simultaneously, fusion will be perceived, path planning, Decision Control are integrated under same software architecture, road vehicle environmental information is integrated, reliable platooning's driving functions are realized by high-precision controller.System meets the development trend of Wang Lian formulas platooning traveling, and high modularization is easy to functions expanding, and decentralization can reduce the probabilistic influence of network service with strategy of speeding.
Description
Technical field
The invention belongs to vehicle net connection formula automatic Pilot field, more particularly to a kind of vehicle cooperative formula formation running method and
System.
Background technology
Intelligent network connection automobile refers to carry the devices such as advanced onboard sensor, controller, actuator, and merges modern logical
Letter and network technology, realize that car exchanges with X (people, car, road, high in the clouds etc.) intelligent information, be shared, possess complex environment perception, intelligence
The functions such as energy decision-making, Collaborative Control, " safe efficient, comfortable, energy-conservation " traveling can be achieved, and replacement people finally can be achieved to grasp
The young mobile of work.It is vehicle intellectualized to be divided into driving auxiliary (DA), part automatic Pilot (PA), automatic Pilot of having ready conditions
(CA) it is, highly automated to drive (HA), fully automated driving (FA) five grades.
Net connectionization can be divided into the interaction of net connection auxiliary information, net connection collaborative perception, net connection Coordination Decision and control Three Estate.
As vehicle communication and computing technique are more and more ripe, the control technology research of intelligent vehicle highway system fleet turns into focus.Intelligent vehicle
Vehicle composition one or more columns per page is had sharing rate by road system, the fleet of small following distance, is effectively reduced by human factor
Caused traffic accident, strengthen traffic safety；Meanwhile motor vehicle exhaust emission and environmental pollution can be reduced.
Fleet's collaboration control loop structure of current international mainstream includes Internet, linking layer, cooperation layer, key-course and thing
Manage layer, collaboration driving strategy mainly includes the convergence of formation vehicle, with speeding, exiting, stopping and collaborative lane-change, due to road environment
It is not strong with strategy of speeding, formation model robustness according to the selection of the status information of its transmission with the uncertainty of communication environment.
In summary, the problem of prior art is present be：
Current Wang Lian formulas platooning algorithm can only coordinate high-precision map to use on structured road, and with guiding
It is not strong with strategy of speeding, formation model robustness according to the selection of the status information of its transmission centered on vehicle (head car)；It is not bound with
The method for traveling of cooperatively being formed into columns based on a kind of more cars of the automatic Pilot of decentralization of control stable theory offer.
The content of the invention
The problem of existing for prior art, the invention provides a kind of vehicle cooperative formula formation running method and system.
The present invention is achieved in that a kind of vehicle cooperative formula formation running method, and the vehicle cooperative formula, which is formed into columns, to travel
Method carries out perception fusion, path planning, Decision Control by capturing the absolute location information of vehicle perception information and vehicle；
And road vehicle environmental information is integrated, realize the formation vehicle convergence of vehicle, with speeding, exiting, stopping and the collaboration of collaborative lane-change
Driving strategy.
Further, the vehicle cooperative formula formation running method specifically includes：
Step 1, using Special experimental network, network layer architecture is built, the center service of Internet is realized using 5G modes
Unit CSU, roadside unit RSU, board units OBU direct communications；
Step 2, use onboard sensor and high-precision map, collection vehicle locating module information；
Step 3, formed into columns using the human-computer interaction module HMI selections of cooperation layer and travel terminal, utilize center service unit
CSU issues Global motion planning path, and sector planning path is resolved after passing through board units OBU by roadside unit RSU；
Step 4, created and formed into columns using the human-computer interaction module HMI of cooperation layer；
Step 5, create the backward key-course of completion of forming into columns and issue formation instruction；Converged, vehicle follow gallop, exited according to vehicle
Form into columns, formation is stopped, the formation state of collaborative lane-change filling control field is realized and controlled in real time；
Step 6：The front truck status information that the controller of key-course obtains according to onboard sensor, speed control is carried out, it is complete
Converged into vehicle；
Step 7, vehicle convergence enter vehicle follow gallop state when reaching target range；
Step 8, when vehicle drops by the wayside formation, state is exited into formation vehicle；
Step 9, form into columns before reaching Global motion planning emphasis, into formation vehicle stopped state.
Further, in step 1, the board units OBU is communicated by wireless network with wireless router；It is described wireless
Router is communicated with center service unit CSU, roadside unit RSU respectively by Ethernet；
Step 2 specifically includes：Installing additional includes the onboard sensor of sensing module；The sensing module includes vision and milli
Metre wave radar sensor；Installing additional includes the locating module of GPS inertial navigations and high-precision map, and the GPS inertial navigations are used to receive GPS
Signal and onboard sensor signal, resolve the absolute location information for coming from car；Install Vehicle Controller, the vehicle-mounted control difference additional
The communication data of sensing module and locating module is obtained by CAN and Ethernet, and interacted with Internet, is obtained simultaneously
The transport information for taking road side system to provide, form linking layer.
Further, step 3 specifically includes：
In cooperation layer, select guiding platooning to travel destination by human-computer interaction interface HMI, report to Internet
Afterwards, center service unit CSU makees global path planning, and issues high-precision map script to guiding vehicle and define path, vehicle-mounted
After unit OBU obtains path planning key point list, weight-normality is made with current starting point and drawn, it is smooth to increase by one road of generation every 1m
Center line, the local paths planning including finally giving comprising key point, called by the key-course of vehicle.
Further, step 4 specifically includes：Vehicle is guided to add the vehicle of formation in human-computer interaction interface HMI selections
ID, sent by network service and create request of forming into columns, after the vehicle in same lane line receives request, pass through board units OBU
Own location information is resolved, the vehicle running environment information obtained by onboard sensor, detection identification traffic sign, road road sign
Line and dynamic static-obstacle thing, after carrying out Multi-source Information Fusion processing, request or refusal are added and formed into columns；Vehicle is guided in the fixed cycle
It is interior to confirm to add formation number of vehicles, the information of position, and route planning information is issued to formation vehicle, carry out formation establishment.
Further, in step 6, when formation vehicle converges, using following control input model
By GPS inertial navigation obtain this car relative position xi, this vehicle speed vi, this car acceleration ai, by onboard sensor
Detection resolves front truck relative position xi-1, preceding vehicle speed vi-1, front truck acceleration ai-1Front truck control targe accelerationBy network
Layer obtains, and finally calculates this car control targeOutput is completed by the key-course of vehicle；
In step 7, during formation vehicle follow gallop, sets target is with the distance, delta d that speedstarFor certain value, if Δ d=xi-1-xi,
For current actual formation vehicle distances, when | Δ dtar- Δ d |≤1m seasons vi=vi-1, vehicle holding train tracing model, otherwise enter
Step 6；
In step 8, vehicle sends to guide car when dropping by the wayside formation and asked, and when allowance is exited, vehicle passes through camera
And whether there is dynamic static-obstacle thing, traffic mark, by information fusion decision-making in vehicle-mounted lateral millimetre-wave radar detection adjacent lane
Judge whether present road environment can be with lane change；After board units OBU is computed lane change, vehicle switches to bicycle automatic Pilot mould
Formula, and lane-change instruction field is filled to Vehicle Controller, vehicle lane-changing is completed and sent to guiding vehicle to exit success message, draws
Vehicle replacement formation number of vehicles and status information are led, returns to step 6.
Further, in step 9, judge global path planning script terminal with guiding vehicle currently nearly driving path point away from
From when this distance is less than 100m, into formation vehicle parking pattern；Guide vehicle according to itself speed set with speeding when away from,
Make Δ dtar=th*vl+Δdsafe, when away from parameter th set after then form into columns vehicle subtract distance with speed reduce and reduce, finally
The safe distance kept during parking is Δ dsafe。
Further, the vehicle cooperative formula formation running method also includes：
The collaborative lane-change of fleet, when adjacent road vehicle finds the fleet travelled, send to add to guide car and ask
Ask, guiding vehicle adds request according to fleet's maximum vehicle number mesh and formation state limit Jie Shou refusals；When vehicle is allowed to add
After entering fleet, addition point is calculated, while the ID of addition point fore-aft vehicle is sent to head car, using the front truck of addition point as with mesh of speeding
Mark, longitudinal velocity is set to vehicle control device is added, it is gradually close to addition point；After addition point is reached, to guiding vehicle hair
Send lane-change to ask, add vehicle and now call fleet's assembly algorithms, target is now set to 2 by addition point front vehicle with distance of speeding
Δdtar, the distance with front truck is pulled open for lane-change car two；After target range is reached, guiding vehicle sends lane-change to vehicle is added
Instruction, after lane-change success, addition point front vehicle will be changed to addition vehicle with target of speeding, and return fleet's convergence state, guide car
Update fleet vehicle number, status information.
Another object of the present invention is to provide a kind of vehicle cooperative formula formation driving system.
Advantages of the present invention and good effect are：
The present invention meets becoming for current Wang Lian formulas platooning traveling for the operating mode exploitation for automatic Pilot (CA) of having ready conditions
Gesture；System architecture is clear, high modularization, facilitates fleet's Function Extension；Decentralization, formation vehicle need not be during with speeding
Moment grasps guide car (head car) state.
The present invention realizes connection and the intermodule direct communication of each module using 5G modes, while installs vision and millimeter wave additional
The low cost vehicle-mounted sensor such as radar, fusion will be perceived, path planning, Decision Control are integrated under same software architecture, integration
Road vehicle environmental information, reliable platooning's driving functions are realized by high-precision controller.System meets net Lian Shiche
The development trend for traveling of forming into columns, high modularization are easy to functions expanding, and decentralization can reduce network with strategy of speeding and lead to
Believe probabilistic influence.
Brief description of the drawings
Fig. 1 is vehicle cooperative formula formation running method flow chart provided in an embodiment of the present invention.
Fig. 2 is the flow chart of the collaborative lane-change of fleet provided in an embodiment of the present invention.
Fig. 3 is the network design block diagram of vehicle cooperative formula formation driving system provided in an embodiment of the present invention.
Fig. 4 is vehicle cooperative formula formation driving system block diagram provided in an embodiment of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
The software of the present invention is developed based on linux (Ubuntu) operating system, high-performance computer of arranging in pairs or groups, center service list
First (CSU) software inhouse LCM interfaces (public to increase income), PERCOM peripheral communication ZeroMQ (public to increase income), development language C, C++.
Below in conjunction with the accompanying drawings and specific embodiment is further described to the application principle of the present invention.
As shown in figure 1, vehicle cooperative formula formation running method provided in an embodiment of the present invention, including：
Step 1：Using Special experimental network, network layer architecture is built, the connection of each module is realized using 5G modes, this
A little modules mainly include center service unit (CSU), roadside unit (RSU), board units (OBU), each module direct communication.
Step 2：Install onboard sensor additional, sensing module mainly includes the inexpensive sensors such as vision and millimetre-wave radar
(vision sensor uses monocular camera and stereoscopic camera, and millimetre-wave radar is comprising before to long away from millimetre-wave radar and corner middle-range
Millimetre-wave radar), locating module, comprising GPS inertial navigations and high-precision cartographic information, GPS inertial navigations receive gps signal and vehicle-mounted biography
Sensor signal, resolve the absolute location information for coming from car.Vehicle Controller is obtained by CAN and Ethernet perceive mould respectively
The communication data of block and locating module, and interacted with Internet, while the transport information of road side system offer is provided, formed
Linking layer.
Step 3：In cooperation layer, select guiding vehicle (head car) to form into columns by human-computer interaction interface (HMI) and travel purpose
Ground, after reporting to Internet, center service unit (CSU) makees global path planning, and issues high-precision map to guiding vehicle
Script defines path (comprising starting point, crucial transit point, terminal, latitude and longitude information), and board units (OBU) obtain path planning and closed
After key point list, weight-normality is made with current starting point and drawn, about increases by one smooth center line of road of generation every 1m, finally gives and include
Local paths planning including key point, called by the control unit of vehicle.
Step 4：Cooperation layer, which starts to create, forms into columns, and guiding vehicle selects to need to add to form into columns in human-computer interaction interface (HMI)
Vehicle ID (license plate number), sent by network service and create request of forming into columns, after the vehicle in same lane line receives request, led to
Cross board units (OBU) and resolve own location information, obtained by sensors such as monocular camera, stereoscopic camera, millimetre-wave radars
Vehicle running environment information, detection identification traffic sign, roadmarking and dynamic static-obstacle thing, carry out at Multi-source Information Fusion
After reason, request or refusal are added and formed into columns.Guiding vehicle confirms within the fixed cycle information such as addition formation number of vehicles, position,
And route planning information is issued to formation vehicle, form into columns to create and complete.
Step 5：Cooperation layer creates the backward key-course of completion of forming into columns and issues formation instruction.To realize control in real time, it is necessary to root
Control field is filled according to formation state.The present invention, which defines formation state, to be included vehicle convergence, vehicle follow gallop, exits formation, forms into columns
Parking, collaborative lane-change.
Step 6：When formation vehicle converges, using following control input model
By GPS inertial navigation obtain this car relative position xi, this vehicle speed vi, this car acceleration ai, by onboard sensor
Detection resolves front truck relative position xi-1, preceding vehicle speed vi-1, front truck acceleration ai-1Front truck control targe accelerationBy network
Layer obtains, and finally calculates this car control targeComplete to export by vehicle bottom control actuator.
Step 7：During formation vehicle follow gallop, sets target is with the distance, delta d that speedstar(for certain value), if Δ d=xi-1-xi,
For current actual formation vehicle distances, when | Δ dtar- Δ d |≤1m seasons vi=vi-1, vehicle holding train tracing model, otherwise enter
Step 6；
Step 8：Formation vehicle exits, and vehicle sends to guide car (head car) when dropping by the wayside formation and asked, and permits exiting
When, vehicle detects dynamic static-obstacle thing is whether there is in adjacent lane by camera and vehicle-mounted lateral millimetre-wave radar, traffic mark,
Judge whether present road environment can be with lane change by information fusion decision-making；Board units (OBU) be computed can be with lane change after, car
Switch to bicycle automatic driving mode, and lane-change instruction field is filled to controller, vehicle lane-changing is completed and to guiding vehicle
(head car), which is sent, exits success message, guiding vehicle (head car) renewal formation number of vehicles and status information, returns to step 6.
Step 9：Formation vehicle parking, judge global path planning script terminal and the current nearly row of guiding vehicle (head car)
Path point distance is sailed, when this distance is less than 100m, into formation vehicle parking pattern.Vehicle is guided to be set according to itself speed
Away from even Δ d during with speedingtar=th*vl+Δdsafe, vehicle of then being formed into columns after parameter th (when away from) settings subtracts distance as speed drops
It is low and reduce, safe distance Δ d is maintained at during final parkingsafe。
As shown in Fig. 2 the collaborative lane-change of fleet provided in an embodiment of the present invention, when adjacent road vehicle finds travelling
Fleet when, sent to guide car (head car) and add request, guiding vehicle limits according to fleet's maximum vehicle number mesh and formation state
System receive refusal add request.When vehicle be allowed to add fleet after, calculate addition point, while to head car send addition point before
The ID (license plate number) of rear vehicle, using the front truck of addition point as with target of speeding, longitudinal velocity is set to vehicle control device is added, gradually
It is close to addition point.After addition point is reached, lane-change request is sent to guiding vehicle, vehicle is added and now calls fleet's convergence to calculate
Target is now set to 2 Δ d by method, addition point front vehicle with distance of speedingtar, the distance with front truck is pulled open for lane-change car two；When to
Up to after target range, guiding vehicle sends lane-change instruction to vehicle is added, and after lane-change success, addition point front vehicle will be with mesh of speeding
Mark is changed to addition vehicle, returns fleet's convergence state, guide car (head car) renewal fleet vehicle number, status information.
The application principle of the present invention is further described with reference to specific system and network design.
As shown in figure 4, vehicle cooperative formula formation driving system provided in an embodiment of the present invention, including Internet, linking layer,
Cooperation layer, key-course and physical layer.
The Internet main modular.Including center service unit (CSU), roadside unit (RSU), board units (OBU).
The direct communication of each intermodule is realized by the way of VPN, is arranged net for convenience, CSU and RSU are put into a LAN, is used
Wireless router is connected (with reference to figure 1).Because OBU, RSU and CSU use the Software for Design framework of some independent processes, process
Between communication use LCM patterns, in order to keep overall architecture constant, thus communication totality be divided into two classes：One kind is logical in network element
Communicate in letter, i.e. LAN, realized by each solid element using LCM modes；It is another kind of to be communicated between network element, i.e., different nets
The communication of network inter-entity, because LCM can only operate in LAN, it is impossible to cross-network segment works, therefore using ZeroMQ communication
Mode realizes that network design block diagram is as shown in Figure 3.
The vehicle localization module, comprising GPS inertial navigations and high-precision cartographic information, GPS inertial navigations receive gps signal and car
Set sensor signal, the absolute location information for coming from car is resolved, and the positional information is sent into automatic Pilot control by Ethernet
Device and board units (OBU) processed；The road edge of high-precision map storage vehicle travel, lane center, tunnel, section
The relevant informations such as ramp, section curvature, ring road gateway, service area gateway, traffic sign position and landmark etc.
Absolute location information.
The formation human-computer interaction interface (HMI), the beginning and end that driver is set in man-machine interactive system is received, it is complete
Into the global path planning of automatic Pilot behavior；And combine the travel route and Vehicle Fusion positioning mould of global path planning planning
The location information of block, on the vehicle traveling local environment map that multi-sensor information fusion module is established, planning meets traffic
Rule and the local travel route of security requirement.
The formation vehicle converges Controlling model, and vehicle-state model is described as follows：
τiIt is motor time constant, is a parameter with automobile correlation,It is last control output.So control
The margin of error of system can be described as：
δi=xi-1-xi-Hi
Wherein Hi=Δ dtarFor target following distance.It is expected that space error is specifically described as present invention introduces one：
Here tgoRepresent to keep t from current timegoThe expectation spacing that time is reached；The present invention passes through application
Lyapunov direct methods, an original function can be constructed just, the lyapunov functions of derivative strictly decreasing, to be specifically defined as：
It can obtain controlling output model after simultaneous equations：
Vehicle computing unit will control output signalVehicle execution unit is fed back to, finally by throttle opening and brake
Car speed control is completed under power collective effect, realizes formation vehicle aggregation feature.
During formation vehicle follow gallop, sets target is with the distance, delta d that speedstar, vehicle computing unit believes according to current vehicle condition
Breath, calculate Δ d=xi-1-xi, for current actual formation vehicle distances；When | Δ dtar- Δ d |≤1m seasons vi=vi-1, to bottom
Execution unit transparent transmission speed control target is preceding vehicle speed, and vehicle enters train tracing model, otherwise converges state into vehicle.
When formation vehicle exits, drop by the wayside vehicle to guide car (head car) send request (do not allow a car to exit formation,
Bicycle road is not allowed to exit formation).When allowance is exited, vehicle passes through camera and vehicle-mounted lateral milli ripple radar detection adjacent lane
Dynamic static-obstacle thing is inside whether there is, traffic mark, judges whether present road environment can be with lane change by information fusion decision-making；It is vehicle-mounted
Unit (OBU) be computed can be with lane change after, vehicle switches to bicycle automatic driving mode, and fills lane-change coding line to controller
Section.Vehicle lane-changing completes backward guide car (head car) transmission and exits success message, and path planning again, guides vehicle (head
Car) renewal formation number of vehicles and status information, fleet enter convergence state, relock front truck.
During formation vehicle parking, global path planning script terminal and the current traveling road recently of guiding vehicle (head car) are judged
Footpath point distance, when this distance is less than 100m, into formation vehicle parking pattern.Vehicle is guided to be set according to itself speed with speeding
When away from even Δ dtar=th*vl+Δdsafe, vehicle of then being formed into columns after parameter th settings subtracts distance to be reduced with speed reduction, most
Eventually safe distance Δ d is maintained at during parkingsafe, as Δ d=xi-1-xiLess than Δ dsafeWhen stop parking.
The convergence of formation vehicle, with speeding, exiting, fleet's control method flow chart such as stop it is as shown in Figure 1.
Roadside unit (RSU) issues formation information (position, speed, angle, acceleration, locking relation) to car according to 1Hz
Carrier unit (OBU), board units (OBU) pass through human-computer interaction interface (HMI), and HMI shows formation information, have event it is real-time on
Report (includes brake).
Formation vehicle cooperative formula lane-change：When adjacent road vehicle finds the fleet travelled, to guide car (head car)
The request beacon for adding fleet is sent, while starts timer 1, guiding vehicle is according to fleet's maximum vehicle number mesh and current vehicle
Team's state (system whether just busy Busy), limitation receive refusal add request, constantly and update addition before timer 1 fails
Information of vehicles (vehicle ID, fleet's number).After vehicle is allowed to add fleet, cancel timer 1, guiding vehicle (head car) is set
Addition point is put, and longitudinal velocity is set to target vehicle longitudinal controller and adds the time.Judge whether add vehicle current point
For target following vehicle, if not following vehicle, then guide car (head car) is sent to the non-following vehicle expands spacing GAP_DIS's
Request, target is set to 2 Δ d with the distance DIS_REQ that speeds heretar；If front vehicles are to add the target following vehicle of vehicle, and
And during GAP_DIS >=DIS_REQ, fleet's status information is updated, start vehicle assembly algorithms, request adds vehicle completion collaboration and changed
Road, ID after renewal lane change again of forming into columns, formation number, Information sign position is in ACK (showing that all information have been received that).
During lane change instruction is sent, system is just busy, makes beacon Busy=true, while starts timer 3, receives collaborative lane change
After completing beacon, cancel timer 3, renewal platooning number, vehicle list, beacon Busy=false is made, in this time cycle
Vehicle cooperative formula lane-change action complete.
Formation vehicle cooperative formula lane-change control method flow chart is as shown in Figure 2.
The software of the present invention is developed based on linux (Ubuntu) operating system, development language C, C++, high-performance meter of arranging in pairs or groups
Calculation machine, the deployed position of center service unit (CSU) can select suitable position according to the principle of NLB, be usually
Regional center.The CSU of each regional center is connected by wired mode, is formed connected graph, is realized global traffic control.In it is genuinely convinced
Business unit (CSU) passes through Ethernet wired connection with roadside unit (RSU).
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (9)
1. a kind of vehicle cooperative formula formation running method, it is characterised in that the vehicle cooperative formula formation running method is by catching
The absolute location information of vehicle perception information and vehicle is obtained, carries out perception fusion, path planning, Decision Control；And integrate vehicle
Road environment information, realize the formation vehicle convergence of vehicle, with speeding, exiting, stopping and collaborative lane-change collaboration driving strategy.
2. vehicle cooperative formula formation running method as claimed in claim 1, it is characterised in that the vehicle cooperative formula, which is formed into columns, goes
The method of sailing specifically includes：
Step 1, using Special experimental network, network layer architecture is built, the center service unit of Internet is realized using 5G modes
CSU, roadside unit RSU, board units OBU direct communications；
Step 2, use onboard sensor and high-precision map, collection vehicle locating module information；
Step 3, formed into columns using the human-computer interaction module HMI selections of cooperation layer and travel terminal, using under center service unit CSU
Global motion planning path is sent out, sector planning path is resolved after passing through board units OBU by roadside unit RSU；
Step 4, created and formed into columns using the human-computer interaction module HMI of cooperation layer；
Step 5, create the backward key-course of completion of forming into columns and issue formation instruction；Converged according to vehicle, vehicle follow gallop, exit formation,
Formation parking, the formation state filling control field of collaborative lane-change are realized and controlled in real time；
Step 6：The front truck status information that the controller of key-course obtains according to onboard sensor, speed control is carried out, complete car
Convergence；
Step 7, vehicle convergence enter vehicle follow gallop state when reaching target range；
Step 8, when vehicle drops by the wayside formation, state is exited into formation vehicle；
Step 9, form into columns before reaching Global motion planning emphasis, into formation vehicle stopped state.
3. vehicle cooperative formula formation running method as claimed in claim 2, it is characterised in that in step 1, the vehicle-mounted list
First OBU is communicated by wireless network with wireless router；The wireless router by Ethernet respectively with center service unit
CSU, roadside unit RSU communicate；
Step 2 specifically includes：Installing additional includes the onboard sensor of sensing module；The sensing module includes vision and millimeter wave
Radar sensor；Installing additional includes the locating module of GPS inertial navigations and high-precision map, and the GPS inertial navigations are used to receive gps signal
With onboard sensor signal, the absolute location information for coming from car is resolved；Install Vehicle Controller additional, the vehicle-mounted control passes through respectively
CAN and Ethernet obtain the communication data of sensing module and locating module, and are interacted with Internet, while obtain road
The transport information that side system provides, form linking layer.
4. vehicle cooperative formula formation running method as claimed in claim 2, it is characterised in that step 3 specifically includes：
In cooperation layer, guiding platooning is selected to travel destination by human-computer interaction interface HMI, after reporting to Internet, in
Central server unit CSU makees global path planning, and issues high-precision map script to guiding vehicle and define path, board units
After OBU obtains path planning key point list, weight-normality is made with current starting point and drawn, increase by one smooth center of road of generation every 1m
Line, the local paths planning including finally giving comprising key point, called by the key-course of vehicle.
5. vehicle cooperative formula formation running method as claimed in claim 2, it is characterised in that step 4 specifically includes：Guiding
Vehicle adds the vehicle ID of formation, is sent by network service and create request of forming into columns, together in human-computer interaction interface HMI selections
After vehicle in one lane line receives request, own location information is resolved by board units OBU, obtained by onboard sensor
Vehicle running environment information, detection identification traffic sign, roadmarking and dynamic static-obstacle thing, carry out at Multi-source Information Fusion
After reason, request or refusal are added and formed into columns；Guiding vehicle confirms addition formation number of vehicles, the information of position within the fixed cycle,
And route planning information is issued to formation vehicle, carry out formation establishment.
6. vehicle cooperative formula formation running method as claimed in claim 2, it is characterised in that in step 6, formation vehicle converges
When poly-, using following control input model
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By GPS inertial navigation obtain this car relative position xi, this vehicle speed vi, this car acceleration ai, detected by onboard sensor
Resolve front truck relative position xi-1, preceding vehicle speed vi-1, front truck acceleration ai-1Front truck control targe accelerationObtained by Internet
Take, finally calculate this car control targeOutput is completed by the key-course of vehicle；
In step 7, during formation vehicle follow gallop, sets target is with the distance, delta d that speedstarFor certain value, if Δ d=xi-1-xi, it is current
Actual formation vehicle distances, when | Δ dtar- Δ d |≤1m seasons vi=vi-1, vehicle keeps train tracing model, otherwise into step
Six；
In step 8, vehicle sends to guide car when dropping by the wayside formation and asked, and when allowance is exited, vehicle passes through camera and car
Carry in lateral millimetre-wave radar detection adjacent lane and whether there is dynamic static-obstacle thing, traffic mark, judge by information fusion decision-making
Whether present road environment can be with lane change；After board units OBU is computed lane change, vehicle switches to bicycle automatic driving mode,
And lane-change instruction field is filled to Vehicle Controller, vehicle lane-changing is completed and sent to guiding vehicle to exit success message, guides
Vehicle replacement formation number of vehicles and status information, return to step 6.
7. vehicle cooperative formula formation running method as claimed in claim 2, it is characterised in that in step 9, judge global road
Script terminal is planned with guiding vehicle currently nearly driving path point distance in footpath, when this distance is less than 100m, into formation vehicle
Car-parking model；Away from making Δ d when guiding vehicle is set with speeding according to itself speedtar=th*vl+Δdsafe, when away from parameter th set
Then formation vehicle subtracts distance as speed reduces and reduced afterwards, and the safe distance finally kept during parking is Δ dsafe。
8. vehicle cooperative formula formation running method as claimed in claim 2, it is characterised in that the vehicle cooperative formula, which is formed into columns, goes
Sailing method also includes：
The collaborative lane-change of fleet, when adjacent road vehicle finds the fleet travelled, sent to guide car and add request, drawn
Guide-car according to fleet's maximum vehicle number mesh and formation state limit receive refusal add request；When vehicle is allowed to add car
After team, addition point is calculated, while the ID of addition point fore-aft vehicle is sent to head car, using the front truck of addition point as with target of speeding, to
Add vehicle control device and longitudinal velocity is set, it is gradually close to addition point；After addition point is reached, lane-change is sent to guiding vehicle
Request, add vehicle and now call fleet's assembly algorithms, target is now set to 2 Δ d by addition point front vehicle with distance of speedingtar,
The distance with front truck is pulled open for lane-change car two；After target range is reached, guiding vehicle sends lane-change instruction to vehicle is added, and changes
After road success, addition point front vehicle will be changed to addition vehicle with target of speeding, and return fleet's convergence state, guide car renewal fleet
Number of vehicles, status information.
A kind of 9. vehicle cooperative formula formation driving system of vehicle cooperative formula formation running method as claimed in claim 1.
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