CN107972668A - A kind of vehicle is from motion tracking drive manner, device and a kind of automobile - Google Patents
A kind of vehicle is from motion tracking drive manner, device and a kind of automobile Download PDFInfo
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- CN107972668A CN107972668A CN201711167638.4A CN201711167638A CN107972668A CN 107972668 A CN107972668 A CN 107972668A CN 201711167638 A CN201711167638 A CN 201711167638A CN 107972668 A CN107972668 A CN 107972668A
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- 238000004891 communication Methods 0.000 description 16
- 230000032258 transport Effects 0.000 description 12
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/082—Selecting or switching between different modes of propelling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The embodiment of the present application provides a kind of vehicle from motion tracking drive manner, device and a kind of vehicle, wherein, method includes：According to the unique identification information of preconfigured target vehicle to be tracked, the running data of target vehicle to be tracked is obtained；According to the running data and default safe distance scope, the drive parameter of the vehicle is calculated, and controls the vehicle to travel according to the drive parameter；It can be seen that, allow the vehicle to travel from motion tracking front truck using the application, especially under the scene for needing a large amount of vehicle trackings to drive, can be by multiple vehicle marshallings into a vehicle platoon, head car being driven by people is at least arranged, other vehicles are travelled with the technical solution that the application provides from the front truck in motion tracking fleet, so, cost of labor can either be reduced, and accident rate can be greatly reduced.
Description
Technical field
This application involves automobile technical field, more particularly to a kind of vehicle is from motion tracking drive manner, device and a kind of vapour
Car.
Background technology
In daily life, many scenes are required for driver to carry out vehicle tracking traveling, vehicle tracking traveling can be with
It is interpreted as：Rear car follows front truck to be travelled, and rear car keeps identical driving trace substantially with front truck.
By taking cargo transport scene as an example, under cargo transport scene, it is often necessary to which driver drives vehicle and follows preceding garage
Sail, to ensure that the vehicle of a string of transport cargos reaches same destination in the same period, so as to ensure that cargo transports on time
Destination.Especially on a highway, the scene of remote, substantial amounts of cargo transport usually occurs, in this scene
Under, fatigue driving in order to prevent causes driving accident, and carrier can be that each car arranges two drivers, by two drivers
Mutual break tour drives, and mutually supervision drives, to reduce driving accident as far as possible；But in actual driving procedure, due to driver
The event that causes the accident of human factor occur again and again, this is primarily due to rear car driver and follows front truck closely when driving, especially
It is when running at high speed, it is difficult to tackle the emergency situations of front truck in time, therefore, often a car catastrophic failure can cause rear car
A chain of failure, so caused by personnel injury and property injury be very huge.
The content of the invention
The application is exactly to be directed to this actual scene demand for needing vehicle tracking to drive, it is proposed that vehicle is driven from motion tracking
The method sailed, this method can either reduce the cost of labor for employing driver, and can reduce the accident of vehicle tracking driving
Rate.
A kind of vehicle, which is provided, in the application first aspect is applied to vehicle, the car from motion tracking drive manner, this method
It is the non-head car in vehicle platoon, this method includes：
According to the unique identification information of preconfigured target vehicle to be tracked, the traveling number of target vehicle to be tracked is obtained
According to；
According to the running data and default safe distance scope, the drive parameter of the vehicle is calculated, and according to described
Drive parameter controls the vehicle traveling.
Optionally, at least two corresponding unique mark letters of target vehicle to be tracked are provided with the vehicle in advance
Breath；
The unique identification information according to preconfigured target vehicle to be tracked, obtains the row of target vehicle to be tracked
Data are sailed, including：
According to unique mark of any one target vehicle to be tracked in preconfigured at least two target vehicles to be tracked
Know information, obtain the running data of any one target vehicle to be tracked.
Optionally, at least two corresponding unique mark letters of target vehicle to be tracked are provided with the vehicle in advance
Breath；
The unique identification information according to preconfigured target vehicle to be tracked, obtains the row of target vehicle to be tracked
Data are sailed, including：
According to the preconfigured at least two corresponding unique identification informations of target vehicle to be tracked, obtain described in extremely
Few two respective running datas of target vehicle to be tracked；
It is then described according to the running data and default safe distance scope, the drive parameter of the vehicle is calculated, and press
The vehicle traveling is controlled according to the drive parameter, is specially：
A target vehicle to be tracked is selected from least two respective running datas of target vehicle to be tracked of acquisition
Running data, running data further according to selected target vehicle to be tracked and with selected target vehicle phase to be tracked
The default safe distance scope of pass, calculates the drive parameter of the vehicle, and controls the vehicle according to the drive parameter of calculating
Traveling.
Optionally, at least two corresponding unique mark letters of target vehicle to be tracked are provided with the vehicle in advance
The tracking priority of breath and each target vehicle to be tracked；
The unique identification information according to preconfigured target vehicle to be tracked, obtains the row of target vehicle to be tracked
Data are sailed, including：
According to the unique identification information of preconfigured target vehicle to be tracked, obtain tracking priority rank is forward and treat
Track the running data of target vehicle.
Optionally, the unique identification information according to preconfigured target vehicle to be tracked, obtains tracking priority
The running data of target vehicle to be tracked in the top, including：
According to tracking priority sequence, within the default time cycle, forward one of priority rank is first obtained
The running data of target vehicle to be tracked；
If obtain failure, according to tracking priority sequence, then obtain it is next tracking priority level treat with
The running data of track target vehicle.
Optionally, unmanned function module is built-in with the vehicle, then the method further includes：
If within the default time cycle, the running data of target vehicle to be tracked is not got, then starts the vehicle
Unmanned function module, control the vehicle directly to travel as default purpose by the unmanned function module
Ground.
Optionally, the built-in vehicle has unmanned function module and self-checking function module；Wherein, the self-checking function
Module is used for the state of automatic detection vehicle, then the method further includes：
When detecting that the vehicle can not continue to track target vehicle to be tracked by the self-checking function module, start
The unmanned function module of the vehicle, controls the vehicle directly to travel as pre- by the unmanned function module
If destination.
Optionally, after unmanned function module is started, the method further includes：
Tracking information and the vehicle current driving track are abandoned to vehicle master control device feedback.
Optionally, the method further includes：
Other vehicles into the vehicle platoon send the running data of the vehicle.
Optionally, the running data is combined including one or more of information：
Speed, distributive value, closure degree, gear, engine speed, engine temperature, vehicle location, the traveling of brake block
Direction.
Optionally, it is described according to the running data and default safe distance scope, the drive parameter of the vehicle is calculated,
And control the vehicle to travel according to the drive parameter, including：
When the running data shows target vehicle to be tracked brake, then according to the running data, default safety away from
From the running data of scope, the weight of the vehicle and the vehicle, drive parameter is calculated, the drive parameter includes：Brake
Parameter；
The vehicle brake is controlled according to the braking parameters.
Optionally, it is described according to the running data and default safe distance scope, the drive parameter of the vehicle is calculated,
And control the vehicle to travel according to the drive parameter, including：
When the running data shows that target vehicle to be tracked is turned, then according to the position of target vehicle to be tracked turning
Put, the running data of turning speed, the weight of the vehicle and the vehicle, calculate the drive parameter of the vehicle, it is described to drive
When sailing parameter can ensure that the vehicle reaches the position that the target vehicle to be tracked is turned, according to target vehicle to be tracked
The consistent angle of radius of turn is turned.
A kind of vehicle, which is provided, in the application second aspect is applied to vehicle, the dress from motion tracking pilot instrument, the device
Put including：
Acquisition module, for the unique identification information according to preconfigured target vehicle to be tracked, obtains mesh to be tracked
Mark the running data of vehicle；
Control module, for according to the running data and default safe distance scope, the driving for calculating the vehicle to be joined
Number, and control the vehicle to travel according to the drive parameter.
A kind of automobile is provided in the application third aspect, which has the vehicle of the application second aspect offer certainly
Motion tracking pilot instrument.
Compared with prior art, the technical solution that the application provides has the following advantages：
In the technical solution that the application provides, the unique mark letter of target vehicle to be tracked is configured in the car in advance
Breath, vehicle obtain the running data of target vehicle to be tracked according to the unique identification information；Then, according to the running data and
Default safe distance scope, calculates the drive parameter of the vehicle, and according to drive parameter control vehicle traveling, it is seen then that
The technical solution provided in vehicle with the application, vehicle can travel from motion tracking front truck, especially a large amount of vehicles of needs with
Under the scene that track drives, head car being driven by people, other vehicles can be at least arranged by multiple vehicle marshallings into a vehicle platoon
Travelled with the technical solution that the application provides from the front truck in motion tracking fleet, can either so reduce cost of labor, and energy
Enough greatly reduce accident rate.
Brief description of the drawings
In order to illustrate more clearly of the technical solution in the embodiment of the present application, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present application, for
For those of ordinary skill in the art, without having to pay creative labor, it can also be obtained according to these attached drawings
His attached drawing.
Fig. 1 is the Sample Scenario figure of the application in practical applications；
Fig. 2 is a kind of flow chart of the vehicle provided by the embodiments of the present application from motion tracking drive manner；
Fig. 3 is a kind of structure chart of the vehicle provided by the embodiments of the present application from motion tracking pilot instrument；
Fig. 4 is a kind of structure chart of vehicle provided by the embodiments of the present application.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, the technical solution in the embodiment of the present application is carried out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, shall fall in the protection scope of this application.
Unmanned technology research and development more than ten years, but at present still cannot by extensive commercial, its be mainly because
It is well-established not by public affairs for unpiloted accident rate, but actually unpiloted accident rate is well below being driven by people
Accident rate.At present, it is quite to have technology hardly possible if merely wanting unpiloted accident rate to be reduced to the receptible degree of the public
Degree.Therefore, inventors herein propose by Mode of train formation form vehicle platoon, at least arranged in vehicle platoon head car by
People drives, and other vehicles use the vehicle that the application provides from motion tracking drive manner.In the case of one, by vehicle platoon
First vehicle for driving into road be known as head car, and the method that vehicle thereafter is provided with the application is realized from before motion tracking
Car travels.Such as：The Sample Scenario figure of the application as shown in Figure 1 in practical applications, wherein, head car driven by a people or
Driven by more people's rotations, vehicle below it is then unmanned but using the application from motion tracking drive manner, before following automatically
Chinese herbaceous peony into, i.e. head car it is manned-rear car drives from motion tracking, in this way, the driver that whole vehicle platoon is like a car drives
Locomotive engine is sailed, multiple compartments of connecting behind locomotive engine are the same, and this mode can either greatly reduce cost of labor, and can
Reduce unpiloted accident rate.
A kind of vehicle that the application provides is explained from motion tracking drive manner with reference to Fig. 2.
Referring to Fig. 2, Fig. 2 shows a kind of flow chart of the vehicle provided by the embodiments of the present application from motion tracking drive manner,
The embodiment of the present application provides specific application scenarios for the realization of this method, and this method is applied to use Mode of train formation
By multiple vehicle marshallings into a vehicle platoon, which needs to travel identical road to reach same destination.Its
In, at least head car of the vehicle platoon, is driven in turn by a people or more people, and remaining vehicle uses the embodiment of the present application
The method of offer, follows front truck to travel automatically.Certainly,, can also in addition to head car being driven by people when vehicle fleet size is more
One or more vehicle being driven by people in remaining vehicle is arranged, to ensure the drive safety of whole vehicle platoon.
The application scenarios first provided below by example the application are illustrated.
Such as：The fleet of one transport cargo needs to reach same from same place, traveling same link transport cargo
One destination.Again for example：The fleet of one transport cargo, the vehicle in fleet can be from different places, but need altogether
With same section of road is travelled, then different vehicles can reach different destinations.For another example the staff of a company
Need from company's together, go to same destination to participate in meeting.
Under these scenes, using the method for the application offer, first car is driven by a people or more people drive in turn,
A string of vehicles next drive from motion tracking front truck, and can be reduced using this method greatly reduces cost of labor, it is often more important that, profit
Traditional pure unpiloted accident rate can be reduced by two orders of magnitude with this method.Specifically, the method is applied to
Needs in vehicle platoon are followed in the vehicle of a car/front truck traveling, are provided with target carriage to be tracked in advance in the vehicle
Unique identification information；Illustrated with reference to specific implementations of the Fig. 1 to this method, as shown in Figure 1, this method include with
Lower step：
201：According to the unique identification information of preconfigured target vehicle to be tracked, the row of target vehicle to be tracked is obtained
Sail data；
In the embodiment of the present application, needed to configure wireless communication module in vehicle, vehicle by wireless communication module with
Data interaction is carried out between target vehicle to be tracked, so as to obtain the running data of target vehicle to be tracked.Wherein, the channel radio
Believe module can use WIFI communication modules, WIMAX communication modules, 3G 4G communication modules or private network communication module it is (such as right
Say machine communication module) etc..
Wherein, the running data of target vehicle to be tracked specifically refers to the vehicle of target vehicle to be tracked in the process of moving
Operating parameter, the running data can have a variety of concrete forms, specifically, can include following one or more kinds of combination letters
Breath：
Speed, distributive value, closure degree, gear, engine speed, engine temperature, vehicle location, the traveling of brake block
Direction.
In specific implementation, the vehicle can obtain the running data of target vehicle to be tracked in the following manner；One
The optional mode of kind, including：The vehicle can also actively send to target vehicle to be tracked and obtain request, then target to be tracked
Vehicle is asked according to the acquisition, to the running data of vehicle feedback target vehicle to be tracked；
While target vehicle to be tracked is to vehicle feedback running data, the unique mark of target vehicle to be tracked is also carried
The hardware encoding or license plate number of information, such as vehicle, in this way, vehicle can determine acquisition by unique identification information
To running data be strictly belong to target vehicle to be tracked.A kind of another optional mode, including：Target vehicle to be tracked
Actively to needing the vehicle for tracking it to send the running data of itself, i.e. the target vehicle to be tracked of the vehicle is to the car
Actively send running data.For target vehicle to be tracked, it is pre-configured with its other vehicles of tracking in need
Unique identification information, based on this, target vehicle to be tracked is after traveling is started, it becomes possible to is sent on one's own initiative to other vehicles in time
Running data, ensures the promptness of data interaction.Likewise, while target vehicle to be tracked is to vehicle transmission running data,
The unique identification information of target vehicle to be tracked is also carried, in this way, other vehicles can be determined by unique identification information
The running data got is strictly to belong to target vehicle to be tracked.Both the above mode belongs to point-to-point communication party
Formula, can ensure accurately and rapidly to communicate between vehicle, ensure the real-time and security of data communication.
In addition, also a kind of optional mode, including：It is pre-configured with target vehicle to be tracked all in vehicle platoon
The running data of itself can be broadcast to car by the respective unique identification information of vehicle, target vehicle to be tracked using broadcast mode
Other vehicles in queue, then the vehicle receive broadcast singal, to obtain the running data of target vehicle to be tracked.It is based on
This, which vehicle target vehicle to be tracked, which need not pay close attention to, needs to track oneself, and directly to other vehicles group of whole fleet
From the vehicle operation data of body；Wherein, fleet refers to that multiple vehicle marshallings form a team to form vehicle platoon, target vehicle to be tracked
It is the vehicle in the vehicle platoon with the vehicle.Likewise, target vehicle to be tracked sends the same of running data to vehicle
When, the unique identification information of target vehicle to be tracked is also carried, in this way, other vehicles can be by unique identification information come really
Surely the running data got is strictly to belong to target vehicle to be tracked.In this way, the vehicle of whole fleet is within the same time
The running data of target vehicle to be tracked can be got, same target vehicle to be tracked is tracked when there are multiple vehicles to need
When, it is no longer necessary to the problem of sending one by one, avoiding the occurrence of running data delay failure.
Such as：One fleet vehicle A, B, C, wherein, vehicle A is arranged to a car, then vehicle B, the subsequent tracking lines of vehicle C
Sail, the corresponding target vehicle A to be tracked of user setting vehicle C corresponding target vehicle B to be tracked, vehicle B.User is total in vehicle
Disposable completion configuration in server is controlled, which is sent by vehicle bus communication mode to all vehicles should
Relation table, after vehicle receives relation table, filters out and oneself relevant information according to the unique identification information of vehicle.Example
Such as：Vehicle C is filtered out is with oneself relevant information, the corresponding target vehicle B to be tracked of vehicle C.And vehicle B is filtered out and oneself
Oneself relevant information is the corresponding target vehicle A to be tracked of vehicle B.When by means of which, user is only needed in vehicle master control
Disposably complete to configure for all vehicles in server, configuration information is carried by relation table, and send out to all vehicles are unified
Relevant configuration information is sent, allocative efficiency is very high, also, by means of which, facilitates user quickly to change according to the actual requirements
Configuration.
Whether the running data that target vehicle to be tracked is actively sent, or the traveling that the vehicle active request obtains
Data, during carrying out data interaction between the vehicle and target vehicle to be tracked, all pass through the unique mark of vehicle
Information identifies the ownership situation of running data to verify.Wherein, the effect of the unique identification information of vehicle is to distinguish different
Vehicle, can be presented as a variety of concrete forms, and the application is not particularly limited this, can only distinguish different vehicles
Open, such as：The unique identification information of vehicle can be license plate number, or the hardware element of vehicle numbering, can be with
For user-defined car number, or it can be user-defined vehicle title.
Explanation is needed exist for, the vehicle can immediately obtain the traveling number of target vehicle to be tracked upon actuation
According to, also, the running data of target vehicle to be tracked can also be periodically obtained in the process of moving, to ensure in road row
The drive parameter of itself is adjusted according to the running data got in time during sailing.It is of course also possible to according to vehicle detection
Real road travel situations, aperiodically obtain the running data of target vehicle to be tracked.
In practical applications, user generally requires the vehicle of a fleet and follows set out successively, in such a scenario, user
Determine first vehicle to set out, i.e. head car, and target vehicle to be tracked be respectively configured for other vehicles and then behind head car,
User can be only that a vehicle configures a target vehicle to be tracked according to the vehicle starting order in vehicle platoon, such as above
The example of description：One fleet vehicle A, B, C, wherein, vehicle A is arranged to a car, then vehicle B, the subsequent tracking lines of vehicle C
Sail, the corresponding target vehicle A to be tracked of user setting vehicle C corresponding target vehicle B to be tracked, vehicle B.
But vehicle real road when driving, it is possible that with losing front truck, or target vehicle to be tracked is travelling
During the scene for causing rear car can not continue tracking traveling such as break down, based on this scene, present invention also provides
Corresponding solution, specifically：Multiple target vehicles to be tracked are pre-configured with for vehicle, in this way, when a mesh to be tracked
When mark vehicle can not continue tracking, vehicle can replace another target vehicle to be tracked and carry out tracking traveling, so as to ensure car
Continue tracking traveling to arrive at the destination.
Based on this, the embodiment of the present application additionally provides following several optional implementations for step 201, below to this
Several optional implementations are explained respectively.A kind of optional implementation, including：
Be provided with least two corresponding unique identification informations of target vehicle to be tracked in advance in the vehicle；
Then step 201 is specially：It is to be tracked according to any one in preconfigured at least two target vehicles to be tracked
The unique identification information of target vehicle, obtains the running data of any one target vehicle to be tracked.
In practical applications, have multiple vehicles in vehicle platoon, in order to prevent due to vehicle with a target to be tracked
Vehicle communication failure, causes the situation that vehicle is fallen behind occur, multiple target vehicles to be tracked can be configured in the vehicle only
One identification information, in this way, vehicle selects one of them into line trace, if some target to be tracked when tracking driving
Vehicle can not communicate, and can not track, then the vehicle selects another target vehicle to be tracked into line trace.
Another optional implementation, including：
Be provided with least two corresponding unique identification informations of target vehicle to be tracked in advance in the vehicle；
Then step 201 is specially：
According to the preconfigured at least two corresponding unique identification informations of target vehicle to be tracked, obtain described in extremely
Few two respective running datas of target vehicle to be tracked；
Then step 202 is specially：One is selected from least two respective running datas of target vehicle to be tracked of acquisition
The running data of a target vehicle to be tracked, running data further according to selected target vehicle to be tracked and with it is selected
The relevant default safe distance scope of target vehicle to be tracked, calculates the drive parameter of the vehicle, and according to the driving of calculating
Vehicle described in state modulator travels.
Also a kind of optional implementation, including：
Be provided with advance in the vehicle at least two corresponding unique identification informations of target vehicle to be tracked with
And the tracking priority of each target vehicle to be tracked；
Step 201 is specially：
According to the unique identification information of preconfigured target vehicle to be tracked, obtain tracking priority rank is forward and treat
Track the running data of target vehicle.
In practical applications, the traveling of the forward target vehicle to be tracked of tracking priority rank is obtained in the following way
Data, which include：
According to tracking priority sequence, within the default time cycle, forward one of priority rank is first obtained
The running data of target vehicle to be tracked；
If obtain failure, according to tracking priority sequence, then obtain it is next tracking priority level treat with
The running data of track target vehicle.
For example, vehicle platoon includes vehicle A, vehicle B, vehicle C, vehicle A are head car, the car configured in vehicle B
The tracking priority of A is higher than vehicle C；The tracking priority of the vehicle B configured in vehicle C is higher than vehicle A, so with guarantee
Vehicle is travelled according to vehicle platoon order.
For vehicle C, according to the tracking priority of target vehicle to be tracked, target vehicle B to be tracked is preferentially obtained
Running data, if not getting, then obtain the running data of target vehicle A to be tracked.
202：According to the running data and default safe distance scope, the drive parameter of the vehicle is calculated, and according to
The drive parameter controls the vehicle traveling.
In order to further improve vehicle from motion tracking drive when security, present invention also provides corresponding solution party
Case, specifically, configures unmanned function module in the car, then on the basis of method shown in Fig. 1, this method can also wrap
Include following steps：
If within the default time cycle, the running data of target vehicle to be tracked is not got, then starts the vehicle
Unmanned function module, control the vehicle directly to travel as default purpose by the unmanned function module
Ground.
Furthermore, it is contemplated that vehicle is in the process of running, it is also possible to breaks down and leads to not continue to track front truck, is
The harmful effect that tracking of the vehicle faults itself to whole fleet drives is reduced, the application also provides corresponding solution method,
Specifically, unmanned function module and self-checking function module is configured with the car, wherein, self-checking function module is used for automatic
The state of vehicle is detected, the state of vehicle can show that whether vehicle can continue to track target vehicle to be tracked, then in Fig. 1 institutes
On the basis of showing method, this method can also include the following steps：
When detecting that the vehicle can not continue to track target vehicle to be tracked by the self-checking function module, start
The unmanned function module of the vehicle, controls the vehicle directly to travel as pre- by the unmanned function module
If destination.
Wherein, if the self-checking function module of vehicle detects that vehicle has following characteristics, show vehicle can not continue with
Track target vehicle to be tracked, these features include：：
Vehicle fuel tank fuel quantity is less than default oil mass threshold value, vehicle tyre pressure is more than preset pressure threshold value, vehicle motor
Temperature is more than preset temperature threshold value, vehicle accumulator failure etc., these specific features of vehicle, indicate that vehicle can not go over long distances
Sail, then can not continue to track front truck traveling.Preset for example, if the self-checking function module of vehicle detects that vehicle fuel tank fuel quantity is less than
During oil mass threshold value, then show that the vehicle can not continue to track target vehicle to be tracked, then start the unmanned of the vehicle
Function module, either rest station or default vehicle stop over area the nearest gas station of selected distance current vehicle position
Deng, by unmanned function module control vehicle travel to selected position.Wherein, it can be a warp to preset oil mass threshold value
Value is tested, can be a smaller threshold value, vehicle wheeled is in small distance under the threshold value.
In specific implementation, the vehicle, can also be to it after the unmanned function module of the vehicle is started
He sends a warning message at vehicle, to notify vehicle described in other vehicles to have disengaged from vehicle platoon, does not continue to tracking and drives, also not
Tracked it can drive.
When the vehicle can not continue to track target vehicle to be tracked, the vehicle can also be anti-to vehicle master control device
Tracking information and the vehicle current driving track are abandoned in feedback.In this way, vehicle master control device can just understand vehicle tracking in time
Situation, and arrange personnel to handle emergency in proper moment.
In view of vehicle in real road is run over, it may appear that various vehicle run action, such as accelerate, subtract
Speed, turning, brake, parking etc., make step 202 specific explanations explanation, specifically with reference to the road driving situation of vehicle
Ground：
When the running data shows target vehicle to be tracked brake, then according to the running data, default safety away from
From the running data of scope, the weight of the vehicle and the vehicle, drive parameter is calculated, the drive parameter includes：Brake
Parameter；
The vehicle brake is controlled according to the braking parameters.
Alternatively,
When the running data shows that target vehicle to be tracked is turned, then according to the position of target vehicle to be tracked turning
Put, the running data of turning speed, the weight of the vehicle and the vehicle, calculate the drive parameter of the vehicle, it is described to drive
When sailing parameter can ensure that the vehicle reaches the position that the target vehicle to be tracked is turned, according to target vehicle to be tracked
The consistent angle of radius of turn is turned.
Wherein, default safe distance scope can be that traffic law is fixed should between two cars during road driving
The spacing of holding, for example, default safe distance scope is 50 to 100 meters.Certainly, the application do not limit default safety away from
From the concrete numerical value of scope.
In practical applications, vehicle in the process of moving arbitrarily jump a queue into by side vehicle in order to prevent, can also basis
The running data of target vehicle to be tracked, reconfigures the speed of the vehicle, reduces the vehicle and target vehicle to be tracked
Between actual travel spacing so that side traveling other vehicles can not jump a queue into, it is orderly easy to whole fleet
Tracking traveling.
Method provided by the embodiments of the present application is applied in the scene of " head car being driven by people-rear car drives from motion tracking ",
Ensure that vehicle is travelled from motion tracking front truck so that whole fleet advances in order, can greatly reduce cost of labor, can be whole
The accident rate of a unmanned fleet reduces at least two orders of magnitude, it is often more important that, the program can be automatic Pilot in business
Break new ground in industry application, the development of unmanned technology can be promoted well.
With above-mentioned method provided by the embodiments of the present application correspondingly, the embodiment of the present application additionally provide a kind of vehicle automatically with
Track pilot instrument.Referring to Fig. 3, Fig. 3 shows a kind of structure of the vehicle provided by the embodiments of the present application from motion tracking pilot instrument
Figure, the device are applied to need in vehicle platoon in the vehicle for tracking front truck traveling；As shown in figure 3, the device includes following work(
Can module：
Acquisition module 301, for the unique identification information according to preconfigured target vehicle to be tracked, obtains to be tracked
The running data of target vehicle；
Control module 302, for according to the running data and default safe distance scope, calculating the driving of the vehicle
Parameter, and control the vehicle to travel according to the drive parameter.
Optionally, at least two corresponding unique mark letters of target vehicle to be tracked are provided with the vehicle in advance
Breath；
The then acquisition module, specifically for according to any one in preconfigured at least two target vehicles to be tracked
The unique identification information of target vehicle to be tracked, obtains the running data of any one target vehicle to be tracked.
Optionally, at least two corresponding unique mark letters of target vehicle to be tracked are provided with the vehicle in advance
Breath；
The then acquisition module, specifically for corresponding according to preconfigured at least two target vehicles to be tracked
Unique identification information, obtains at least two respective running data of target vehicle to be tracked；
The then control module, specifically for from least two respective running datas of target vehicle to be tracked of acquisition
Select the running data of a target vehicle to be tracked, running data further according to selected target vehicle to be tracked and with quilt
The relevant default safe distance scope of target vehicle to be tracked of selection, calculates the drive parameter of the vehicle, and according to calculating
Drive parameter control vehicle traveling.
Optionally, at least two corresponding unique mark letters of target vehicle to be tracked are provided with the vehicle in advance
The tracking priority of breath and each target vehicle to be tracked；
The then acquisition module, specifically for the unique identification information according to preconfigured target vehicle to be tracked, is obtained
Take the running data of the forward target vehicle to be tracked of tracking priority rank.
Further, the acquisition module, specifically for according to tracking priority sequence, in the default time cycle
It is interior, first obtain the running data of a forward target vehicle to be tracked of priority rank；It is excellent according to tracking if obtaining failure
First level sequence, then obtain the running data of the target vehicle to be tracked of next tracking priority level.
Optionally, unmanned function module is built-in with the vehicle, then described device further includes：
Second control module, if the traveling number within the default time cycle, not getting target vehicle to be tracked
According to, then start the unmanned function module of the vehicle, it is direct by the unmanned function module control vehicle
Traveling is as default destination.
Optionally, the built-in vehicle has unmanned function module and self-checking function module；Wherein, the self-checking function
Module is used for the state of automatic detection vehicle, then described device further includes：
3rd control module, for when by the self-checking function module detect the vehicle can not continue tracking treat with
During track target vehicle, start the unmanned function module of the vehicle, by described in the unmanned function module control
Vehicle is directly travelled as default destination.
Optionally, after unmanned function module is started, described device further includes：
Feedback module, for abandoning tracking information and the vehicle current driving track to vehicle master control device feedback.
Optionally, described device further includes：
Sending module, the running data of the vehicle is sent for other vehicles into the vehicle platoon.
Optionally, the running data is combined including one or more of information：
Speed, distributive value, closure degree, gear, engine speed, engine temperature, vehicle location, the traveling of brake block
Direction.
Optionally, the control module, specifically for when the running data shows that target vehicle to be tracked brakes, then
According to the running data of the running data, default safe distance scope, the weight of the vehicle and the vehicle, calculate and drive
Parameter, the drive parameter include：Braking parameters；The vehicle brake is controlled according to the braking parameters.
Optionally, the control module, specifically for when the running data shows that target vehicle to be tracked is turned, then
The running data of position, turning speed, the weight of the vehicle and the vehicle turned according to target vehicle to be tracked, calculates
The drive parameter of the vehicle, the drive parameter can ensure that the vehicle reaches the position that the target vehicle to be tracked is turned
When putting, turn according to the angle consistent with target vehicle radius of turn to be tracked.
In addition, the embodiment of the present application additionally provides a kind of vehicle, referring to Fig. 4, Fig. 4 is one kind provided by the embodiments of the present application
The structure chart of vehicle, the vehicle 400 include：Vehicle is from motion tracking pilot instrument 401, knot of the vehicle from motion tracking pilot instrument
Structure and function can be found in the description of Fig. 3 shown device embodiments, which may also include：Wireless communication module 402, the communication
Module can be WIFI communication modules, 3G/4G mobile communication modules, car networking communication module, etc..Certainly, which may be used also
Including battery, engine, to wait the hardware module ensured needed for normal vehicle operation, but this is not made in the embodiment of the present application
Explain one by one.
In order to make it easy to understand, below by an example to vehicle provided by the embodiments of the present application from motion tracking pilot instrument
And the concrete application of the vehicle comprising the device illustrates.
In practical applications, user enables the fleet that multiple vehicles form a tracking traveling, and head car is by people in the fleet
Drive, above-described vehicle is configured with remaining vehicle from motion tracking pilot instrument, is driven and filled from motion tracking using the vehicle
Put realization and follow a car/front truck traveling automatically, communicated between these vehicles by communication.Certainly, except head
Outside car is manned, user can also arrange other one or more vehicles in fleet manned.Specific example is such as
Under：
User needs to save to transport to F from E by substantial amounts of cargo to save, these cargos need 5 container trucks to transport, base
In this actual demand, user arranges 5 container trucks to load this shipments, then, is configured with for this 5 container trucks
The unique identification information of target vehicle to be tracked, such as：5 containers drive to be denoted as vehicle 1, vehicle 2, vehicle 3, vehicle respectively
4th, vehicle 5, vehicle 1 is arranged have people driving/or number people to drive in turn for head car, head car by user, to ensure long-distance transport
Safety, and remaining vehicle 2, vehicle 3, vehicle 4, vehicle 5 must be configured with vehicle provided by the embodiments of the present application from motion tracking
Pilot instrument, the function of being travelled from motion tracking front truck is realized by the vehicle from motion tracking pilot instrument；Then, user configuration its
The correlation circumstance of the target vehicle to be tracked of his vehicle, specifically, can configure vehicle 2 and track vehicle 1, vehicle 3 tracks vehicle
2, vehicle 4 tracks vehicle 3, and vehicle 5 tracks vehicle 4；It is of course also possible to configuring 2,3,4,5 tracks vehicle 1；It can also configure
Vehicle 2,3,4,5, can track any car in the fleet, but must assure that two car of wherein at least one must track
Head car, that is, vehicle 1.Anyway the correlation circumstance of to be tracked target vehicle is configured, as long as ensureing that whole fleet being capable of follower head
Car, travels in head car for advancing under neck.
It is previously-completed to match somebody with somebody in user and postpones, so that it may starts this cargo transport, driving vehicle 1 by head car driver drives into
Road, rear car vehicle 2,3,4,5 start from motion tracking drive function, track target vehicle to be tracked, thus formed one " head car by
The fleet of the automatic follower head car/front truck of people's driving-rear car ", manned head car can handle most roads easily
Complex situations, the fleet can regard as the train of a row being driven by people like, its drive safety of someone greatly improves.
In practical applications, vehicle 2,3,4,5 may be used also in addition to the device driven from motion tracking for being integrated with the application
To be integrated with Function for Automatic Pilot module, in this way, when these vehicles do not follow front truck, then it can change into and respective drive automatically
Pattern is sailed, not followed by front truck, and destination is driven into using Function for Automatic Pilot.
The all suitable specification of the highway construction of most countries at present, the especially highway of some developed countries, at this
The running data for following driving occurred on a little roads accounts for the 99% of total distance substantially, and some is even up to 100%, so,
The scheme that vehicle is provided using the application tracks driving on road and is expected to unpiloted accident rate to reduce by two quantity
Level, reaches the 1% of the unmanned accident rate of tradition.
As it can be seen that vehicle provided by the embodiments of the present application is used in the car from motion tracking pilot instrument so that vehicle can
Travelled from motion tracking front truck, can be by multiple vehicle marshallings into one especially under the scene for needing a large amount of vehicle trackings to drive
Vehicle platoon, at least arranges head car being driven by people, other vehicles are by the vehicle from motion tracking pilot instrument from motion tracking fleet
In front truck traveling, can either so reduce cost of labor, and accident rate can be greatly reduced.
As seen through the above description of the embodiments, those skilled in the art can be understood that above-mentioned implementation
All or part of step in example method can add the mode of required general hardware platform to realize by software.Based on such
Understand, the part that technical scheme substantially in other words contributes the prior art can be in the form of software product
Embody, which can be stored in storage medium, such as ROM/RAM, magnetic disc, CD, including some
Instruction is used so that a computer equipment (can be the network services such as personal computer, server, or Media Gateway
Equipment, etc.) perform method described in some parts of each embodiment of the present invention or embodiment.
It should be noted that each embodiment in this specification is described by the way of progressive, each embodiment it
Between identical similar part mutually referring to what each embodiment stressed is the difference with other embodiment.
For equipment and device embodiment, since it is substantially similar to embodiment of the method, so describe fairly simple,
The relevent part can refer to the partial explaination of embodiments of method.Equipment and device embodiment described above is only schematic
, wherein may or may not be as the unit that separating component illustrates physically separate, shown as unit
Component may or may not be physical location, you can with positioned at a place, or can also be distributed to multiple networks
On unit.Some or all of module therein can be selected to realize the purpose of this embodiment scheme according to the actual needs.
Those of ordinary skill in the art are without creative efforts, you can to understand and implement.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention
It is interior.Finally, it is to be noted that, herein, relational terms such as first and second and the like are used merely to one
Entity or operation are distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation
There are any actual relationship or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to contain
Lid non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only will including those
Element, but also including other elements that are not explicitly listed, or further include as this process, method, article or equipment
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Also there are other identical element in process, method, article or equipment including the key element.
A kind of vehicle provided above the embodiment of the present application is carried out from motion tracking drive manner, device and a kind of vehicle
It is discussed in detail, specific case used herein is set forth the principle and embodiment of the application, above example
Explanation be only intended to help and understand the present processes and its core concept；Meanwhile for those of ordinary skill in the art,
According to the thought of the application, there will be changes in specific embodiments and applications, in conclusion in this specification
Hold the limitation that should not be construed as to the application.
Claims (14)
1. a kind of vehicle is from motion tracking drive manner, it is characterised in that applied to vehicle, the vehicle is non-in vehicle platoon
Head car, including：
According to the unique identification information of preconfigured target vehicle to be tracked, the running data of target vehicle to be tracked is obtained；
According to the running data and default safe distance scope, the drive parameter of the vehicle is calculated, and according to the driving
Vehicle described in state modulator travels.
2. method according to claim 1, it is characterised in that be provided with least two targets to be tracked in the vehicle in advance
The corresponding unique identification information of vehicle；
The unique identification information according to preconfigured target vehicle to be tracked, obtains the traveling number of target vehicle to be tracked
According to, including：
Believed according to the unique mark of any one target vehicle to be tracked in preconfigured at least two target vehicles to be tracked
Breath, obtains the running data of any one target vehicle to be tracked.
3. method according to claim 1, it is characterised in that be provided with least two targets to be tracked in the vehicle in advance
The corresponding unique identification information of vehicle；
The unique identification information according to preconfigured target vehicle to be tracked, obtains the traveling number of target vehicle to be tracked
According to, including：
According to the preconfigured at least two corresponding unique identification informations of target vehicle to be tracked, obtain described at least two
A respective running data of target vehicle to be tracked；
It is then described according to the running data and default safe distance scope, the drive parameter of the vehicle is calculated, and according to institute
State drive parameter and control the vehicle traveling, be specially：
The row of a target vehicle to be tracked is selected from least two respective running datas of target vehicle to be tracked of acquisition
Data are sailed, running data further according to selected target vehicle to be tracked and relevant with selected target vehicle to be tracked
Default safe distance scope, calculates the drive parameter of the vehicle, and controls the vehicle to travel according to the drive parameter of calculating.
4. method according to claim 1, it is characterised in that be provided with least two targets to be tracked in the vehicle in advance
The tracking priority of the corresponding unique identification information of vehicle and each target vehicle to be tracked；
The unique identification information according to preconfigured target vehicle to be tracked, obtains the traveling number of target vehicle to be tracked
According to, including：
According to the unique identification information of preconfigured target vehicle to be tracked, forward to be tracked of tracking priority rank is obtained
The running data of target vehicle.
5. method according to claim 4, it is characterised in that described according to the unique of preconfigured target vehicle to be tracked
Identification information, obtains the running data of the forward target vehicle to be tracked of tracking priority rank, including：
According to tracking priority sequence, within the default time cycle, first obtain forward one of priority rank treat with
The running data of track target vehicle；
If obtaining failure, according to tracking priority sequence, then the mesh to be tracked of next tracking priority level is obtained
Mark the running data of vehicle.
6. method according to claim 1, it is characterised in that unmanned function module is built-in with the vehicle, then institute
The method of stating further includes：
If within the default time cycle, the running data of target vehicle to be tracked is not got, then starts the nothing of the vehicle
People drives function module, controls the vehicle directly to travel as default destination by the unmanned function module.
7. method according to claim 1, it is characterised in that the built-in vehicle has unmanned function module and self-test work(
Can module；Wherein, the self-checking function module is used for the state of automatic detection vehicle, then the method further includes：
When detecting that the vehicle can not continue to track target vehicle to be tracked by the self-checking function module, described in startup
The unmanned function module of vehicle, controls the vehicle directly to travel as default by the unmanned function module
Destination.
8. according to 6 or 7 the method for claim, it is characterised in that after unmanned function module is started, the method
Further include：
Tracking information and the vehicle current driving track are abandoned to vehicle master control device feedback.
9. method according to claim 1, it is characterised in that the method further includes：
Other vehicles into the vehicle platoon send the running data of the vehicle.
10. according to 1 or 9 the method for claim, it is characterised in that the running data includes one or more of information
Combination：
Speed, distributive value, the closure degree of brake block, gear, engine speed, engine temperature, vehicle location, traveling side
To.
11. method according to claim 1, it is characterised in that described according to the running data and default safe distance model
Enclose, calculate the drive parameter of the vehicle, and control the vehicle to travel according to the drive parameter, including：
When the running data shows target vehicle brake to be tracked, then according to the running data, default safe distance model
Enclose, the running data of the weight of the vehicle and the vehicle, calculate drive parameter, the drive parameter includes：Braking parameters；
The vehicle brake is controlled according to the braking parameters.
12. method according to claim 1, it is characterised in that described according to the running data and default safe distance model
Enclose, calculate the drive parameter of the vehicle, and control the vehicle to travel according to the drive parameter, including：
When the running data shows that target vehicle to be tracked is turned, then the position turned according to target vehicle to be tracked, turn
The running data of curved speed, the weight of the vehicle and the vehicle, calculates the drive parameter of the vehicle, the drive parameter
When can ensure that the vehicle reaches the position that the target vehicle to be tracked is turned, turn partly according to target vehicle to be tracked
The consistent angle in footpath is turned.
13. a kind of vehicle is from motion tracking pilot instrument, it is characterised in that described device is applied to vehicle, including：
Acquisition module, for the unique identification information according to preconfigured target vehicle to be tracked, obtains target carriage to be tracked
Running data；
Control module, for according to the running data and default safe distance scope, calculating the drive parameter of the vehicle, and
The vehicle traveling is controlled according to the drive parameter.
14. a kind of automobile, it is characterised in that the automotive internal has the vehicle described in the claims 13 to be driven from motion tracking
Device.
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| CN201711167638.4A CN107972668B (en) | 2017-11-21 | 2017-11-21 | Automatic tracking driving method and device for vehicle and automobile |
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| CN201711167638.4A CN107972668B (en) | 2017-11-21 | 2017-11-21 | Automatic tracking driving method and device for vehicle and automobile |
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| CN112363502A (en) * | 2020-06-30 | 2021-02-12 | 珠海云洲智能科技有限公司 | Unmanned ship position allocation strategy determination method, device, equipment and storage medium |
| CN112363502B (en) * | 2020-06-30 | 2021-10-08 | 珠海云洲智能科技股份有限公司 | Unmanned ship position allocation strategy determination method, device, equipment and storage medium |
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| CN112918463B (en) * | 2021-01-29 | 2022-08-09 | 北京瞰瞰智域科技有限公司 | Method and equipment for automatically following vehicle and vehicle |
| CN113838306A (en) * | 2021-09-03 | 2021-12-24 | 北京汽车研究总院有限公司 | Early warning method and device for automatically driving fleet |
| CN113879305A (en) * | 2021-10-26 | 2022-01-04 | 奇瑞汽车股份有限公司 | Adaptive cruise control method and device and vehicle |
| CN113879305B (en) * | 2021-10-26 | 2023-10-31 | 奇瑞汽车股份有限公司 | Adaptive cruise control method and device and vehicle |
| CN115218904A (en) * | 2022-06-13 | 2022-10-21 | 深圳市优必选科技股份有限公司 | Following navigation method, device, computer readable storage medium and mobile device |
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