CN107972668B - Automatic tracking driving method and device for vehicle and automobile - Google Patents
Automatic tracking driving method and device for vehicle and automobile Download PDFInfo
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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"
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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
- 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
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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
- 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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Abstract
The embodiment of the application provides a vehicle automatic tracking driving method, a device and a vehicle, wherein the method comprises the following steps: acquiring running data of a target vehicle to be tracked according to the preset unique identification information of the target vehicle to be tracked; calculating driving parameters of the vehicle according to the driving data and a preset safe distance range, and controlling the vehicle to drive according to the driving parameters; therefore, the method and the device can enable the vehicles to automatically track the running of the front vehicles, especially under the scene that a large number of vehicles are required to track and drive, a plurality of vehicles can be organized into a vehicle queue, at least the first vehicle is arranged to be driven by people, and other vehicles automatically track the running of the front vehicles in the motorcade by applying the technical scheme provided by the application, so that the labor cost can be reduced, and the accident rate can be greatly reduced.
Description
Technical Field
The application relates to the technical field of automobiles, in particular to an automatic tracking driving method and device for a vehicle and an automobile.
Background
In daily life, there are many scenarios that require a driver to perform vehicle tracking driving, which can be understood as: the rear vehicle runs along with the front vehicle, and the rear vehicle and the front vehicle basically keep the same running track.
Taking a cargo transportation scene as an example, in the cargo transportation scene, a driver is often required to drive a vehicle to travel along with a preceding vehicle so as to ensure that a series of vehicles for transporting cargos arrive at the same destination in the same time period, thereby ensuring that the cargos are transported to the destination on time. Especially on a highway, a long-distance scene of mass cargo transportation often appears, under the scene, in order to prevent driving accidents caused by fatigue driving, a transportation company arranges two drivers for each vehicle, and the two drivers drive in shifts and supervise the driving mutually so as to reduce the driving accidents as much as possible; however, in the actual driving process, accidents occur frequently due to human factors of drivers, and the accidents are mainly caused by the fact that when a driver of a rear vehicle runs along with a front vehicle, especially when the driver runs at a high speed, the driver of the rear vehicle is difficult to deal with the emergency situation of the front vehicle in time, so that the rear vehicle is often in a serial fault due to the emergency fault of one vehicle, and the personnel injury and the property injury caused by the serial fault are very great.
Disclosure of Invention
The method for automatically tracking the driving of the vehicle is provided aiming at the actual scene requirement that the vehicle is required to track the driving, and not only can the labor cost for hiring a driver be reduced, but also the accident rate of the vehicle tracking driving can be reduced.
In a first aspect of the present application, there is provided a method for automatically tracking driving of a vehicle, the method being applied to a vehicle, the vehicle being a non-head vehicle in a vehicle queue, the method comprising:
acquiring running data of a target vehicle to be tracked according to the preset unique identification information of the target vehicle to be tracked;
and calculating the driving parameters of the vehicle according to the driving data and a preset safe distance range, and controlling the vehicle to drive according to the driving parameters.
Optionally, the vehicle is preconfigured with unique identification information corresponding to each of at least two target vehicles to be tracked;
the method for acquiring the running data of the target vehicle to be tracked according to the preset unique identification information of the target vehicle to be tracked comprises the following steps:
and acquiring the running data of any target vehicle to be tracked according to the preset unique identification information of any target vehicle to be tracked in at least two target vehicles to be tracked.
Optionally, the vehicle is preconfigured with unique identification information corresponding to each of at least two target vehicles to be tracked;
the method for acquiring the running data of the target vehicle to be tracked according to the preset unique identification information of the target vehicle to be tracked comprises the following steps:
acquiring respective driving data of at least two target vehicles to be tracked according to unique identification information which is configured in advance and corresponds to the at least two target vehicles to be tracked;
calculating driving parameters of the vehicle according to the driving data and a preset safe distance range, and controlling the vehicle to drive according to the driving parameters, specifically:
the method comprises the steps of selecting running data of a target vehicle to be tracked from the obtained running data of at least two target vehicles to be tracked, calculating driving parameters of the vehicle according to the running data of the selected target vehicle to be tracked and a preset safe distance range related to the selected target vehicle to be tracked, and controlling the vehicle to run according to the calculated driving parameters.
Optionally, the vehicle is preconfigured with unique identification information corresponding to at least two target vehicles to be tracked and a tracking priority of each target vehicle to be tracked;
the method for acquiring the running data of the target vehicle to be tracked according to the preset unique identification information of the target vehicle to be tracked comprises the following steps:
and acquiring the running data of the target vehicle to be tracked with the tracking priority ranking in front according to the preset unique identification information of the target vehicle to be tracked.
Optionally, the obtaining of the driving data of the target vehicle to be tracked with the tracking priority ranking in front according to the preconfigured unique identification information of the target vehicle to be tracked includes:
according to the tracking priority level sequence, firstly acquiring running data of a target vehicle to be tracked, the priority level of which is front, in a preset time period;
and if the acquisition fails, acquiring the running data of the target vehicle to be tracked of the next tracking priority level according to the tracking priority level.
Optionally, if an unmanned function module is built in the vehicle, the method further includes:
and if the running data of the target vehicle to be tracked is not acquired within a preset time period, starting a driverless function module of the vehicle, and controlling the vehicle to directly run to a preset destination through the driverless function module.
Optionally, an unmanned function module and a self-checking function module are arranged in the vehicle; wherein the self-checking function module is used for automatically detecting the state of the vehicle, and then the method further comprises:
when the self-checking function module detects that the vehicle cannot continuously track the target vehicle to be tracked, the unmanned function module of the vehicle is started, and the vehicle is controlled to directly run to a preset destination through the unmanned function module.
Optionally, after the unmanned function module is started, the method further includes:
and feeding back the abandoning tracking information and the current running track of the vehicle to a vehicle general control device.
Optionally, the method further includes:
and transmitting the driving data of the vehicle to other vehicles in the vehicle queue.
Optionally, the driving data includes one or more of the following information combinations:
the method comprises the following steps of vehicle speed, fuel injection quantity, closing degree of a brake pad, gear, engine rotating speed, engine temperature, vehicle position and driving direction.
Optionally, the calculating a driving parameter of the vehicle according to the driving data and a preset safe distance range, and controlling the vehicle to drive according to the driving parameter includes:
when the driving data indicate that the target vehicle to be tracked is braked, calculating driving parameters according to the driving data, a preset safe distance range, the weight of the vehicle and the driving data of the vehicle, wherein the driving parameters comprise: brake parameters;
and controlling the vehicle to brake according to the brake parameters.
Optionally, the calculating a driving parameter of the vehicle according to the driving data and a preset safe distance range, and controlling the vehicle to drive according to the driving parameter includes:
and when the running data shows that the target vehicle to be tracked turns, calculating the driving parameters of the vehicle according to the turning position, the turning speed, the weight of the vehicle and the running data of the vehicle, wherein the driving parameters can ensure that the vehicle turns according to an angle consistent with the turning radius of the target vehicle to be tracked when reaching the turning position of the target vehicle to be tracked.
In a second aspect of the present application, there is provided an automatic tracking driving apparatus for a vehicle, the apparatus being applied to the vehicle, the apparatus including:
the acquisition module is used for acquiring the running data of the target vehicle to be tracked according to the preset unique identification information of the target vehicle to be tracked;
and the control module is used for calculating the driving parameters of the vehicle according to the driving data and a preset safe distance range and controlling the vehicle to drive according to the driving parameters.
In a third aspect of the present application, an automobile is provided, which is provided with the automatic tracking driving device for a vehicle provided in the second aspect of the present application.
Compared with the prior art, the technical scheme provided by the application has the following advantages:
in the technical scheme provided by the application, unique identification information of a target vehicle to be tracked is configured in the vehicle in advance, and the vehicle acquires running data of the target vehicle to be tracked according to the unique identification information; then, according to the driving data and the preset safe distance range, the driving parameters of the vehicle are calculated, and the vehicle is controlled to drive according to the driving parameters, therefore, by applying the technical scheme provided by the application to the vehicle, the vehicle can automatically track the driving of the front vehicle, especially under the scene that a large number of vehicles are required to track the driving, a plurality of vehicles can be grouped into a vehicle queue, at least the front vehicle is arranged to be driven by people, and other vehicles automatically track the driving of the front vehicle in the motorcade by applying the technical scheme provided by the application, so that the labor cost can be reduced, and the accident rate can be greatly reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
FIG. 1 is a diagram illustrating an example of a practical application of the present application;
FIG. 2 is a flow chart of a method for automatically tracking and driving a vehicle according to an embodiment of the present disclosure;
FIG. 3 is a block diagram of an automatic tracking driving device for a vehicle according to an embodiment of the present disclosure;
fig. 4 is a structural diagram of a vehicle according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Unmanned technology has been studied for decades but is still not commercially available on a large scale, mainly because the accident rate of unmanned is not accepted by the public, but in practice the accident rate of unmanned is much lower than that of manned. At present, if the accident rate of unmanned driving is simply reduced to the public acceptable level, the technology is quite difficult. Therefore, the inventor proposes to form a vehicle queue by vehicle grouping, at least a head vehicle is arranged in the vehicle queue to be driven by people, and other vehicles use the vehicle automatic tracking driving method provided by the application. In one case, the first vehicle entering the road in the vehicle queue is called the head vehicle, and the following vehicles realize automatic tracking of the front vehicle by using the method provided by the application. For example: fig. 1 shows an example of a practical scenario of the present application, in which a leading car is driven by one person or by multiple persons alternately, and a following car is driven by no person but automatically follows a leading car to move forward in an automatic tracking driving manner of the present application, that is, the leading car is driven by one person and the following car is driven by automatic tracking, so that the whole vehicle queue is as if a driver of the leading car drives a head of a fire, and multiple cars are connected in series behind the head of a fire, which can greatly reduce labor cost and reduce the accident rate of the driving by no person.
An automatic tracking driving method for a vehicle provided by the present application is explained with reference to fig. 2.
Referring to fig. 2, fig. 2 shows a flowchart of a method for automatically tracking and driving vehicles according to an embodiment of the present application, which provides a specific application scenario for implementing the method, and the method is applied to group a plurality of vehicles into a vehicle queue in a vehicle grouping manner, where the vehicle queue needs to travel the same road to reach the same destination. At least the head vehicle of the vehicle queue is driven by one or more persons in turn, and the rest vehicles automatically follow the front vehicle to run by adopting the method provided by the embodiment of the application. Of course, when the number of vehicles is large, one or more of the remaining vehicles may be arranged to be driven by a person, in addition to the head vehicle being driven by a person, to ensure the driving safety of the entire vehicle train.
The application scenario provided in the present application is first illustrated by the following example.
For example: a fleet of vehicles transporting goods needs to travel the same roads from the same location to the same destination. For another example: a fleet of vehicles for transporting goods, where the vehicles may depart from different locations but need to travel together on the same road, and then different vehicles may arrive at different destinations. For another example, employees of a company need to leave the company and attend a meeting at the same destination.
Under the scenes, the method provided by the application is utilized, the first vehicle is driven by one person or a plurality of persons in turn, and the rear series of vehicles automatically track the driving of the front vehicle. Specifically, the method is applied to vehicles needing to follow a head vehicle/a front vehicle in a vehicle queue, and unique identification information of a target vehicle to be tracked is configured in the vehicles in advance; the specific implementation of the method is described below with reference to fig. 1, and as shown in fig. 1, the method includes the following steps:
201: acquiring running data of a target vehicle to be tracked according to the preset unique identification information of the target vehicle to be tracked;
in the embodiment of the application, a wireless communication module needs to be configured in the vehicle, and the vehicle performs data interaction with the target vehicle to be tracked through the wireless communication module, so as to obtain the running data of the target vehicle to be tracked. The wireless communication module can adopt a WIFI communication module, a WIMAX communication module, a 3G \4G communication module, a private network communication module (such as an interphone communication module) and the like.
The running data of the target vehicle to be tracked specifically refers to vehicle operating parameters of the target vehicle to be tracked in the running process, and the running data may have various specific forms, and specifically may include one or more of the following combined information:
the method comprises the following steps of vehicle speed, fuel injection quantity, closing degree of a brake pad, gear, engine rotating speed, engine temperature, vehicle position and driving direction.
In specific implementation, the vehicle can acquire the running data of the target vehicle to be tracked in the following manner; an alternative approach, comprising: the vehicle can also actively send an acquisition request to the target vehicle to be tracked, and the target vehicle to be tracked feeds back the running data of the target vehicle to be tracked to the vehicle according to the acquisition request;
the target vehicle to be tracked feeds back the driving data to the vehicle, and simultaneously carries unique identification information of the target vehicle to be tracked, such as a hardware code or a license plate number of the vehicle, so that the vehicle can determine that the acquired driving data really belongs to the target vehicle to be tracked through the unique identification information. Another alternative, includes: the method comprises the steps that a target vehicle to be tracked actively sends self running data to a vehicle needing to be tracked, namely, the target vehicle to be tracked of the vehicle actively sends the running data to the vehicle. For the target vehicle to be tracked, the unique identification information of other vehicles needing to be tracked is configured in advance, and therefore the target vehicle to be tracked can timely and actively send driving data to other vehicles after starting driving, and timeliness of data interaction is guaranteed. Similarly, the target vehicle to be tracked also carries the unique identification information of the target vehicle to be tracked while sending the running data to the vehicle, so that other vehicles can determine that the obtained running data really belong to the target vehicle to be tracked through the unique identification information. The two modes belong to a point-to-point communication mode, so that accurate and rapid communication between vehicles can be ensured, and the real-time performance and the safety of data communication are ensured.
In addition, there is an alternative mode, including: the method comprises the steps that unique identification information of all vehicles in a vehicle queue is configured in advance in a target vehicle to be tracked, the target vehicle to be tracked can broadcast running data of the target vehicle to other vehicles in the vehicle queue in a broadcasting mode, and then the target vehicle receives broadcasting signals to obtain the running data of the target vehicle to be tracked. Based on the method, the target vehicle to be tracked does not need to pay attention to which vehicle needs to track the target vehicle, and the target vehicle directly sends vehicle running data of the target vehicle to other vehicles of the whole fleet in a group; the vehicle queue is formed by a plurality of vehicle formation groups, and the target vehicle to be tracked and the vehicle are all vehicles in the vehicle queue. Similarly, the target vehicle to be tracked also carries the unique identification information of the target vehicle to be tracked while sending the running data to the vehicle, so that other vehicles can determine that the obtained running data really belong to the target vehicle to be tracked through the unique identification information. Therefore, the vehicles of the whole fleet can acquire the running data of the target vehicle to be tracked in the same time, and when a plurality of vehicles need to track the same target vehicle to be tracked, the vehicles do not need to be sent one by one, so that the problem of delay and failure of the running data is avoided.
For example: a fleet of vehicles A, B, C, where vehicle a is arranged as the head vehicle, then vehicles B, C follow the track and the user sets the target vehicle B to be tracked corresponding to vehicle C and the target vehicle a to be tracked corresponding to vehicle B. The user completes configuration in the vehicle master control server at one time, the vehicle master control server sends the relation table to all vehicles in a vehicle bus communication mode, and the vehicles screen out information related to the vehicles according to the unique identification information of the vehicles after receiving the relation table. For example: the information which is screened out by the vehicle C and is relevant to the vehicle C is the target vehicle B to be tracked, which corresponds to the vehicle C. The information screened by the vehicle B and related to the vehicle B is the target vehicle A to be tracked corresponding to the vehicle B. When the method is used, the user only needs to complete the configuration for all vehicles at one time in the vehicle general control server, the configuration information is borne through the relation table, and the related configuration information is uniformly sent to all vehicles, so that the configuration efficiency is very high, and the user can conveniently and quickly modify the configuration according to the actual requirement by using the method.
Whether the running data is the running data actively sent by the target vehicle to be tracked or the running data actively requested to be acquired by the vehicle, the attribution condition of the running data is verified and identified through the unique identification information of the vehicle in the data interaction process between the vehicle and the target vehicle to be tracked. The unique identification information of the vehicle is used for distinguishing different vehicles, and may be embodied in various specific forms, which is not particularly limited in this application, and only different vehicles may be distinguished, for example: the unique identification information of the vehicle can be a license plate number, a hardware element number of the vehicle, a user-defined vehicle number or a user-defined vehicle name.
It should be noted that the vehicle may obtain the driving data of the target vehicle to be tracked immediately after being started, and may also obtain the driving data of the target vehicle to be tracked periodically during the driving process, so as to ensure that the driving parameters of the vehicle are adjusted in time according to the obtained driving data during the road driving process. Of course, the running data of the target vehicle to be tracked may be acquired occasionally according to the actual road running condition detected by the vehicle.
In practical applications, a user often needs vehicles of a fleet to follow a departure in sequence, in such a scenario, the user determines a first departing vehicle, i.e., a head vehicle, and configures target vehicles to be tracked for other vehicles following the head vehicle, respectively, and the user may configure only one target vehicle to be tracked for one vehicle according to a departure sequence of the vehicles in a vehicle queue, as described in the above example: a fleet of vehicles A, B, C, where vehicle a is arranged as the head vehicle, then vehicles B, C follow the track and the user sets the target vehicle B to be tracked corresponding to vehicle C and the target vehicle a to be tracked corresponding to vehicle B.
However, when the actual road of the vehicle is running, the following vehicle may be lost, or the target vehicle to be tracked fails in the running process, so that the following vehicle cannot continue to track the running scene, and based on the scene, the application also provides a corresponding solution, specifically: a plurality of target vehicles to be tracked are configured in advance for the vehicles, so that when one target vehicle to be tracked cannot be tracked continuously, the vehicle can replace the other target vehicle to be tracked to perform tracking running, and the vehicle can be guaranteed to continue tracking running to reach a destination.
Based on this, the embodiment of the present application further provides the following several alternative implementations for step 201, which are explained below separately. An alternative implementation, comprising:
the method comprises the steps that unique identification information corresponding to at least two target vehicles to be tracked is pre-configured in the vehicles;
step 201 specifically includes: and acquiring the running data of any target vehicle to be tracked according to the preset unique identification information of any target vehicle to be tracked in at least two target vehicles to be tracked.
In practical application, a plurality of vehicles are arranged in a vehicle queue, and in order to prevent the situation that the vehicles fall behind due to communication faults of the vehicles and a target vehicle to be tracked, unique identification information of the plurality of target vehicles to be tracked can be configured in the vehicles, so that when the vehicles are driven in a tracking mode, one of the vehicles can be selected for tracking, and if a certain target vehicle to be tracked cannot communicate and cannot be tracked, the vehicle can be selected to be tracked by the other target vehicle to be tracked.
Another optional implementation manner includes:
the method comprises the steps that unique identification information corresponding to at least two target vehicles to be tracked is pre-configured in the vehicles;
step 201 specifically includes:
acquiring respective driving data of at least two target vehicles to be tracked according to unique identification information which is configured in advance and corresponds to the at least two target vehicles to be tracked;
step 202 specifically includes: the method comprises the steps of selecting running data of a target vehicle to be tracked from the obtained running data of at least two target vehicles to be tracked, calculating driving parameters of the vehicle according to the running data of the selected target vehicle to be tracked and a preset safe distance range related to the selected target vehicle to be tracked, and controlling the vehicle to run according to the calculated driving parameters.
Yet another alternative implementation includes:
the method comprises the steps that unique identification information corresponding to at least two target vehicles to be tracked and the tracking priority of each target vehicle to be tracked are pre-configured in the vehicle;
step 201 specifically includes:
and acquiring the running data of the target vehicle to be tracked with the tracking priority ranking in front according to the preset unique identification information of the target vehicle to be tracked.
In practical application, the running data of the target vehicle to be tracked with the highest tracking priority is obtained according to the following mode:
according to the tracking priority level sequence, firstly acquiring running data of a target vehicle to be tracked, the priority level of which is front, in a preset time period;
and if the acquisition fails, acquiring the running data of the target vehicle to be tracked of the next tracking priority level according to the tracking priority level.
For example, the vehicle queue includes a vehicle a, a vehicle B, and a vehicle C, where the vehicle a is a leading vehicle, and the tracking priority of the vehicle a configured in the vehicle B is higher than that of the vehicle C; the tracking priority of vehicle B, which is disposed in vehicle C, is higher than that of vehicle a, thus ensuring that the vehicles travel in the vehicle queue order.
And for the vehicle C, preferentially acquiring the running data of the target vehicle B to be tracked according to the tracking priority of the target vehicle to be tracked, and if the running data of the target vehicle A to be tracked is not acquired, acquiring the running data of the target vehicle A to be tracked.
202: and calculating the driving parameters of the vehicle according to the driving data and a preset safe distance range, and controlling the vehicle to drive according to the driving parameters.
In order to further improve the safety of the vehicle during automatic tracking driving, the application also provides a corresponding solution, specifically, a driverless function module is configured in the vehicle, and on the basis of the method shown in fig. 1, the method may further include the following steps:
and if the running data of the target vehicle to be tracked is not acquired within a preset time period, starting a driverless function module of the vehicle, and controlling the vehicle to directly run to a preset destination through the driverless function module.
In addition, in view of the fact that a vehicle may also have a fault during the operation process, which may result in that the vehicle cannot track the previous vehicle continuously, in order to reduce the adverse effect of the fault of the vehicle on the tracking driving of the entire fleet, the present application also provides a corresponding solution, and specifically, a self-driving function module and a self-checking function module are configured in the vehicle, where the self-checking function module is used to automatically detect the state of the vehicle, and the state of the vehicle can indicate whether the vehicle can track the target vehicle to be tracked continuously, and on the basis of the method shown in fig. 1, the method may further include the following steps:
when the self-checking function module detects that the vehicle cannot continuously track the target vehicle to be tracked, the unmanned function module of the vehicle is started, and the vehicle is controlled to directly run to a preset destination through the unmanned function module.
If the self-checking function module of the vehicle detects that the vehicle has the following characteristics, the vehicle cannot continuously track the target vehicle to be tracked, and the characteristics comprise: :
the specific characteristics of the vehicle indicate that the vehicle cannot run for a long distance and cannot continuously track the running of the previous vehicle. For example, if the self-checking function module of the vehicle detects that the fuel quantity of a fuel tank of the vehicle is smaller than a preset fuel quantity threshold value, indicating that the vehicle cannot continuously track a target vehicle to be tracked, starting the unmanned function module of the vehicle, selecting a gas station or a rest station closest to the current position of the vehicle or a preset vehicle midway stopping area, and controlling the vehicle to run to the selected position through the unmanned function module. The preset oil quantity threshold value can be an empirical value and can be a smaller threshold value, and the distance that the vehicle can travel is smaller at the threshold value.
In specific implementation, after the unmanned function module of the vehicle is started, the vehicle can also send a warning message to other vehicles to inform the other vehicles that the vehicle is out of the vehicle queue, and the tracking driving is not continued or cannot be tracked.
When the vehicle cannot continuously track the target vehicle to be tracked, the vehicle can also feed back abandoned tracking information and the current running track of the vehicle to a vehicle general control device. Therefore, the vehicle master control device can know the vehicle tracking condition in time and arrange personnel to handle emergency at proper time.
Considering that the vehicle may have various vehicle operation actions such as acceleration, deceleration, turning, braking, stopping, etc. during actual road driving, the following explains step 202 in detail in conjunction with the road driving condition of the vehicle, specifically:
when the driving data indicate that the target vehicle to be tracked is braked, calculating driving parameters according to the driving data, a preset safe distance range, the weight of the vehicle and the driving data of the vehicle, wherein the driving parameters comprise: brake parameters;
and controlling the vehicle to brake according to the brake parameters.
Alternatively, the first and second electrodes may be,
and when the running data shows that the target vehicle to be tracked turns, calculating the driving parameters of the vehicle according to the turning position, the turning speed, the weight of the vehicle and the running data of the vehicle, wherein the driving parameters can ensure that the vehicle turns according to an angle consistent with the turning radius of the target vehicle to be tracked when reaching the turning position of the target vehicle to be tracked.
The preset safe distance range may be a vehicle distance which is required to be maintained between two vehicles during road driving and is regulated by traffic laws, and for example, the preset safe distance range is 50 to 100 meters. Of course, the application does not limit the specific value of the preset safe distance range.
In practical application, in order to prevent the vehicles beside the vehicle from being randomly jammed in the running process, the speed of the vehicle can be reconfigured according to the running data of the target vehicle to be tracked, and the actual running distance between the vehicle and the target vehicle to be tracked is reduced, so that other vehicles running beside the vehicle cannot be jammed in the target vehicle to be tracked, and the whole fleet of vehicles can be conveniently and orderly tracked and run.
The method provided by the embodiment of the application is applied to a scene of 'head-vehicle self-driving-rear-vehicle self-tracking driving', the vehicles are guaranteed to automatically track the driving of the front vehicle, the whole motorcade can advance orderly, the labor cost can be greatly reduced, the accident rate of the whole unmanned motorcade can be reduced by at least two orders of magnitude, more importantly, the scheme can open up a new place for the self-driving in commercial application, and the development of the unmanned technology can be well promoted.
Correspondingly to the method provided by the embodiment of the application, the embodiment of the application also provides an automatic tracking driving device for the vehicle. Referring to fig. 3, fig. 3 is a structural diagram illustrating an automatic tracking driving device for a vehicle according to an embodiment of the present application, which is applied to a vehicle in a vehicle queue that needs to track the driving of a preceding vehicle; as shown in fig. 3, the apparatus includes the following functional modules:
the acquiring module 301 is configured to acquire driving data of a target vehicle to be tracked according to preconfigured unique identification information of the target vehicle to be tracked;
and the control module 302 is configured to calculate a driving parameter of the vehicle according to the driving data and a preset safe distance range, and control the vehicle to drive according to the driving parameter.
Optionally, the vehicle is preconfigured with unique identification information corresponding to each of at least two target vehicles to be tracked;
the obtaining module is specifically configured to obtain the driving data of any one target vehicle to be tracked according to the unique identification information of any one target vehicle to be tracked in at least two preset target vehicles to be tracked.
Optionally, the vehicle is preconfigured with unique identification information corresponding to each of at least two target vehicles to be tracked;
the obtaining module is specifically configured to obtain respective driving data of at least two target vehicles to be tracked according to unique identification information corresponding to the at least two target vehicles to be tracked, which is configured in advance;
the control module is specifically configured to select driving data of one target vehicle to be tracked from the acquired driving data of each of the at least two target vehicles to be tracked, calculate driving parameters of the vehicle according to the driving data of the selected target vehicle to be tracked and a preset safe distance range related to the selected target vehicle to be tracked, and control the vehicle to drive according to the calculated driving parameters.
Optionally, the vehicle is preconfigured with unique identification information corresponding to at least two target vehicles to be tracked and a tracking priority of each target vehicle to be tracked;
the obtaining module is specifically configured to obtain, according to the preset unique identification information of the target vehicle to be tracked, the driving data of the target vehicle to be tracked with the tracking priority ranking higher.
Further, the obtaining module is specifically configured to obtain, within a preset time period according to a tracking priority order, driving data of a target vehicle to be tracked, the target vehicle to be tracked having a priority ranking ahead; and if the acquisition fails, acquiring the running data of the target vehicle to be tracked of the next tracking priority level according to the tracking priority level.
Optionally, if an unmanned function module is built in the vehicle, the apparatus further includes:
and the second control module is used for starting the unmanned function module of the vehicle and controlling the vehicle to directly run to a preset destination through the unmanned function module if the running data of the target vehicle to be tracked is not acquired within a preset time period.
Optionally, an unmanned function module and a self-checking function module are arranged in the vehicle; wherein, the self-checking function module is used for automatically detecting the state of the vehicle, and then the device further comprises:
and the third control module is used for starting the unmanned function module of the vehicle when the self-checking function module detects that the vehicle cannot continuously track the target vehicle to be tracked, and controlling the vehicle to directly run to a preset destination through the unmanned function module.
Optionally, after the unmanned function module is started, the apparatus further includes:
and the feedback module is used for feeding back the abandoning tracking information and the current running track of the vehicle to the vehicle general control device.
Optionally, the apparatus further comprises:
and the sending module is used for sending the driving data of the vehicle to other vehicles in the vehicle queue.
Optionally, the driving data includes one or more of the following information combinations:
the method comprises the following steps of vehicle speed, fuel injection quantity, closing degree of a brake pad, gear, engine rotating speed, engine temperature, vehicle position and driving direction.
Optionally, the control module is specifically configured to, when the driving data indicates that the target vehicle to be tracked is braked, calculate driving parameters according to the driving data, a preset safe distance range, the weight of the vehicle, and the driving data of the vehicle, where the driving parameters include: brake parameters; and controlling the vehicle to brake according to the brake parameters.
Optionally, the control module is specifically configured to, when the driving data indicates that the target vehicle to be tracked turns, calculate driving parameters of the vehicle according to a turning position of the target vehicle to be tracked, a turning speed, a weight of the vehicle, and the driving data of the vehicle, where the driving parameters can ensure that the vehicle turns at an angle consistent with a turning radius of the target vehicle to be tracked when reaching the turning position of the target vehicle to be tracked.
In addition, the embodiment of the present application further provides a vehicle, referring to fig. 4, where fig. 4 is a structural diagram of the vehicle provided in the embodiment of the present application, and the vehicle 400 includes: the vehicle automatic tracking driving device 401, the structure and function of which can be referred to the description of the device embodiment shown in fig. 3, may further include: a wireless communication module 402, which may be a WIFI communication module, a 3G/4G mobile communication module, a car networking communication module, etc. Of course, the vehicle may further include a battery, an engine, and other hardware modules required for ensuring normal running of the vehicle, but this is not explained in the embodiment of the present application.
For the convenience of understanding, the following provides an example of a specific application of the vehicle automatic tracking driving device provided by the embodiment of the present application and a vehicle including the device.
In practical application, a user enables a plurality of vehicles to form a tracking running fleet, the head vehicle in the fleet is driven by a person, the automatic tracking driving device of the vehicle is arranged in the other vehicles, the automatic tracking driving device of the vehicle is used for realizing automatic tracking running of the head vehicle/the front vehicle, and the vehicles are communicated in a wireless communication mode. Of course, in addition to the first vehicle being driven, the user may also arrange for one or more other vehicles in the fleet to be driven. Specific examples are as follows:
the user needs to transport a large amount of goods from E province to F province, which need 5 container trucks to transport, and based on this actual demand, the user arranges 5 container trucks to load the lot of goods, and then configures the 5 container trucks with unique identification information of the target vehicle to be tracked, such as: the method comprises the following steps that 5 containers are driven and respectively marked as a vehicle 1, a vehicle 2, a vehicle 3, a vehicle 4 and a vehicle 5, a user arranges the vehicle 1 as a head vehicle, one person drives or several persons drive in turn in the head vehicle to ensure the safety of long-distance transportation, and the rest vehicles 2, 3, 4 and 5 are all provided with the automatic vehicle tracking driving device provided by the embodiment of the application, so that the automatic tracking function of the front vehicle driving is realized through the automatic vehicle tracking driving device; then, the user configures the relevant conditions of the target vehicles to be tracked of other vehicles, specifically, the vehicle 2 can be configured to track the vehicle 1, the vehicle 3 tracks the vehicle 2, the vehicle 4 tracks the vehicle 3, and the vehicle 5 tracks the vehicle 4; of course, it is also possible to arrange for 2, 3, 4, 5 to track the vehicle 1; it is also possible to arrange the vehicles 2, 3, 4, 5 such that any one of the vehicles in the platoon can be tracked, but it must be ensured that at least one of the two vehicles must track the head vehicle, i.e. the vehicle 1. Regardless of the relevant condition of the target vehicle to be tracked, the whole fleet can track the head vehicle and can drive forward under the substitute of the head vehicle.
After the user finishes the configuration in advance, the cargo transportation can be started, a vehicle 1 is driven into a road by a first vehicle driver, automatic tracking driving functions are started by rear vehicles 2, 3, 4 and 5, and a target vehicle to be tracked is tracked, so that a motorcade of 'first vehicle is driven by a person-rear vehicle automatic tracking first vehicle/front vehicle' is formed.
In practical application, the vehicles 2, 3, 4, 5 may be integrated with an automatic driving function module in addition to the automatic tracking driving device of the present application, so that when the vehicles follow the vehicles without the front vehicle, the vehicles can be switched to respective automatic driving modes, and the vehicles do not follow the front vehicle and enter the destination by using the automatic driving function.
At present, the construction of roads in most countries is quite standard, particularly expressways in developed countries, the following driving data occurring on the roads basically accounts for 99% of the total distance, and some of the following driving data even reach 100%, so that the driving tracking of vehicles on the roads by using the scheme provided by the application can reduce the accident rate of unmanned driving by two orders of magnitude to 1% of the traditional accident rate of unmanned driving.
Therefore, the automatic vehicle tracking driving device provided by the embodiment of the application is applied to the vehicles, so that the vehicles can automatically track the driving of the front vehicles, especially under the scene that a large number of vehicles need to track the driving, a vehicle queue can be formed by a plurality of vehicles, at least the front vehicles are arranged to be driven by people, and other vehicles automatically track the driving of the front vehicles in a motorcade through the automatic vehicle tracking driving device, so that the labor cost can be reduced, and the accident rate can be greatly reduced.
As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that all or part of the steps in the above embodiment methods can be implemented by software plus a necessary general hardware platform. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network communication device such as a media gateway, etc.) to execute the method according to the embodiments or some parts of the embodiments of the present invention.
It should be noted that, in the present specification, all the embodiments are described in a progressive manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the apparatus and device embodiments are substantially similar to the method embodiments and therefore are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for related points. The above-described embodiments of the apparatus and device are merely schematic, where units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention. Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The method, the device and the vehicle for automatically tracking and driving the vehicle provided by the embodiment of the application are described in detail above, a specific example is applied in the description to explain the principle and the implementation of the application, and the description of the embodiment is only used to help understand the method and the core idea of the application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (10)
1. The automatic tracking driving method of the vehicle is applied to the vehicle, the vehicle is a non-head vehicle in a vehicle queue, unique identification information corresponding to at least two target vehicles to be tracked respectively and the tracking priority of each target vehicle to be tracked are configured in advance in the vehicle, the target vehicles to be tracked are vehicles in the vehicle queue, and the tracking priority of the target vehicles to be tracked is determined according to the sequence of the target vehicles to be tracked in the vehicle queue; built-in unmanned function module that has in the vehicle includes:
acquiring running data sent by a target vehicle to be tracked with a higher tracking priority in a broadcasting mode according to the preset unique identification information of the target vehicle to be tracked; the unique identification information of the target vehicle to be tracked is obtained according to a relation table sent by a vehicle master control device;
calculating driving parameters of the vehicle according to the driving data and a preset safe distance range, and controlling the vehicle to drive according to the driving parameters;
if the running data of the target vehicle to be tracked is not acquired within a preset time period, starting the unmanned function module of the vehicle, and controlling the vehicle to directly run to a preset destination through the unmanned function module;
the vehicle sends a warning message to other vehicles after the driverless function module is started so as to inform other vehicles that the vehicle is out of the vehicle queue.
2. The method according to claim 1, wherein the obtaining of the driving data of the target vehicle to be tracked with the highest tracking priority according to the preconfigured unique identification information of the target vehicle to be tracked comprises:
according to the tracking priority level sequence, firstly acquiring running data of a target vehicle to be tracked, the priority level of which is front, in a preset time period;
and if the acquisition fails, acquiring the running data of the target vehicle to be tracked of the next tracking priority level according to the tracking priority level.
3. The method of claim 1, wherein the vehicle is provided with a self-test module and a driverless module; wherein the self-checking function module is used for automatically detecting the state of the vehicle, and then the method further comprises:
when the self-checking function module detects that the vehicle cannot continuously track the target vehicle to be tracked, the unmanned function module of the vehicle is started, and the vehicle is controlled to directly run to a preset destination through the unmanned function module.
4. The method of claim 1, wherein after activating the unmanned function module, the method further comprises:
and feeding back the abandoning tracking information and the current running track of the vehicle to a vehicle general control device.
5. The method of claim 1, further comprising:
and transmitting the driving data of the vehicle to other vehicles in the vehicle queue.
6. The method according to claim 1 or 5, wherein the driving data comprises one or more of the following combinations of information:
the method comprises the following steps of vehicle speed, fuel injection quantity, closing degree of a brake pad, gear, engine rotating speed, engine temperature, vehicle position and driving direction.
7. The method of claim 1, wherein calculating the driving parameters of the vehicle according to the driving data and the preset safe distance range, and controlling the vehicle to drive according to the driving parameters comprises:
when the driving data indicate that the target vehicle to be tracked is braked, calculating driving parameters according to the driving data, a preset safe distance range, the weight of the vehicle and the driving data of the vehicle, wherein the driving parameters comprise: brake parameters;
and controlling the vehicle to brake according to the brake parameters.
8. The method of claim 1, wherein calculating the driving parameters of the vehicle according to the driving data and the preset safe distance range, and controlling the vehicle to drive according to the driving parameters comprises:
and when the running data shows that the target vehicle to be tracked turns, calculating the driving parameters of the vehicle according to the turning position, the turning speed, the weight of the vehicle and the running data of the vehicle, wherein the driving parameters can ensure that the vehicle turns according to an angle consistent with the turning radius of the target vehicle to be tracked when reaching the turning position of the target vehicle to be tracked.
9. The device is applied to a vehicle, and unique identification information corresponding to at least two target vehicles to be tracked and the tracking priority of each target vehicle to be tracked are pre-configured in the vehicle, wherein the target vehicles to be tracked are vehicles in a vehicle queue, and the tracking priority of the target vehicles to be tracked is determined according to the sequence of the target vehicles to be tracked in the vehicle queue; built-in unmanned function module that has in the vehicle includes:
the acquisition module is used for acquiring running data sent by a target vehicle to be tracked with a higher tracking priority in a broadcasting mode according to the preset unique identification information of the target vehicle to be tracked; the unique identification information of the vehicle to be tracked is obtained from a relation table sent by a vehicle master control device;
the control module is used for calculating driving parameters of the vehicle according to the driving data and a preset safe distance range and controlling the vehicle to drive according to the driving parameters; if the running data of the target vehicle to be tracked is not acquired within a preset time period, starting an unmanned function module of the vehicle, and controlling the vehicle to directly run to a preset destination through the unmanned function module;
the vehicle sends a warning message to other vehicles after the driverless function module is started so as to inform other vehicles that the vehicle is out of the vehicle queue.
10. An automobile incorporating the automatic vehicle tracking device according to claim 9.
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