CN108053641A - A kind of combination travelling-crane method of pilotless automobile - Google Patents
A kind of combination travelling-crane method of pilotless automobile Download PDFInfo
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- CN108053641A CN108053641A CN201711306868.4A CN201711306868A CN108053641A CN 108053641 A CN108053641 A CN 108053641A CN 201711306868 A CN201711306868 A CN 201711306868A CN 108053641 A CN108053641 A CN 108053641A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/22—Platooning, i.e. convoy of communicating vehicles
Abstract
The present invention relates to a kind of combination travelling-crane methods of pilotless automobile, mainly include：(1) cloud server filters out the vehicle that route coincides；(2) vehicle and combined vehicle that driving can be combined are selected, and determines each retinue vehicle after the tractor and tractor of front end；(3) traffic route that planning combination is driven a vehicle again；(4) vehicle connects, vehicle stall of accompanying, and by tractor its combination is led to move ahead；(5) combined vehicle can be achieved to realize the addition, disengaging and the replacement of tractor of vehicle at any time during driving.The present invention carries out being sequentially connected arrangement by the vehicle for overlapping more traffic routes, is combined to be formed, and the retinue vehicle for leading rear side by tractor advances, and improves the order of driving, reduces the probability of traffic jam, energy saving.
Description
Technical field
The present invention relates to a kind of combination travelling-crane methods of pilotless automobile, are applicable in pilotless automobile technical field.
Background technology
At present, good urban public transport construction, which has become, alleviates urban traffic pressure, energy-saving and emission-reduction, serves the general public
Effective measures.
When more pilotless automobiles are during traveling, same road segment is present with the situation of more vehicle colleagues, so
Not only road traffic order is poor, and be easy to cause traffic jam environment, and each car is advanced using separate power, resource
Waste rate is high.
The content of the invention
The present invention provides a kind of combination travelling-crane method of pilotless automobile, passes through the vehicle for overlapping more traffic routes
It carries out being sequentially connected arrangement, is combined to be formed, the retinue vehicle for leading rear side by tractor advances, and improves the order of driving
Property, the probability of traffic jam is reduced, it is energy saving.
The present invention solves above-mentioned technical problem and adopts the technical scheme that：A kind of combination driving side of pilotless automobile
Method mainly includes：
(1) cloud server filters out the vehicle that route coincides；
(2) vehicle and combined vehicle that driving can be combined are selected, and after the tractor and tractor of definite front end
Each retinue vehicle；
(3) traffic route that planning combination is driven a vehicle again；
(4) vehicle connects, vehicle stall of accompanying, and by tractor its combination is led to move ahead；
(5) addition, disengaging and tractor of realization vehicle at any time can be achieved more in combined vehicle during driving
It changes.
Further, the vehicle that the route coincides is completely superposed or partially overlaps including vehicle driving route, high in the clouds
Server is connected with car-mounted terminal, obtains the real-time routes of vehicle driving in real time.
Further, the selection condition of the combined vehicle includes：
(1) using tractor as standard, the width of rear side retinue vehicle and the different widths of tractor are no more than 50cm；
(2) it is no more than 5cm between two vehicles being connected with each other for bindiny mechanism's height difference of vehicle connection.
Further, the selection condition of the tractor includes：
(1) energy surplus of the tractor must be over the 90% of its peak；
(2) traction power of the tractor is more than the traction power of retinue vehicle.
Further, the tractor is set with the lowest threshold of energy surplus according to its energy-output ratio, in driving conditions
The energy surplus of tractor is detected in real time, and the replacement of tractor is determined according to the lowest threshold：
(1) when energy surplus is less than or equal to the 110% of lowest threshold, redefine tractor and replace combination driving
Order dismisses combination driving；
(2) when energy surplus is higher than the 110% of lowest threshold, then continue to move ahead.
Further, the traffic route of the combination driving is planned according to the former traffic route of combined vehicle, and
It determines the connection place of vehicle and departs from place.
Further, the length of the combination driving is less than the half of most short road road section length in its traffic route, combination
The total weight of driving is less than the freight weight limit value in section.
Further, the car-mounted terminal includes vehicle connection control system, the connection control system and bindiny mechanism's phase
Even, system control needs the bindiny mechanism of two combined vehicles connected to carry out position correction, realize combination the mutual of vehicle
Connection, wherein,
The bindiny mechanism includes lock connection and is connected with energy-absorbing.
Further, the car-mounted terminal includes vehicle derailing control system, and the vehicle derailing control system is with being connected machine
Structure is connected, and departs between the forward and backward two connected vehicles of control.
Further, the car-mounted terminal includes prompt system, when vehicle reaches connection place or departs from place, prompts system
System sends warning, for distinguishing connection vehicle and warning surrounding vehicles, wherein,
The prompt system includes phonetic warning, text importing warning and special light warning.
The beneficial effects of the present invention are：The present invention filters out the vehicle of traffic route coincidence, and the vehicle is selected
It takes, determines tractor and retinue vehicle, on the basis of the traffic route of planning combination driving again, vehicle is connected,
Driving is realize combination, retinue vehicle forward is driven using tractor, the in good order of road traffic can not only be promoted, reduce and hand over
The situation of pass blocking plug, and can realize energy saving effect.
Description of the drawings
Fig. 1 is a kind of one of which particular flow sheet of the combination travelling-crane method of pilotless automobile of the present invention；
Fig. 2 is a kind of another particular flow sheet of the combination travelling-crane method of pilotless automobile of the present invention；
Fig. 3 is the driving conditions figure of the embodiment of the present invention 4.
Specific embodiment
In order that the present invention can be more clearly and readily understood, it is right below according to specific embodiment and with reference to attached drawing
The present invention is described in further detail.
Embodiment 1：
A kind of combination travelling-crane method of pilotless automobile, mainly includes：
(1) cloud server filters out the vehicle that route coincides；
(2) vehicle and combined vehicle that driving can be combined are selected, and after the tractor and tractor of definite front end
Each retinue vehicle；
(3) traffic route that planning combination is driven a vehicle again；
(4) vehicle connects, vehicle stall of accompanying, and by tractor its combination is led to move ahead；
(5) addition, disengaging and tractor of realization vehicle at any time can be achieved more in combined vehicle during driving
It changes.
The vehicle that the route coincides is completely superposed or partially overlaps including vehicle driving route, cloud server with
Car-mounted terminal is connected, and obtains the real-time routes of vehicle driving in real time.
Specifically, cloud server determines combined vehicle according to the traffic route of each vehicle, including first tractor and
Accompany vehicle determine, and combine driving traffic route planning, tractor replacement and combination drive a vehicle during vehicle
Addition or disengaging can have cloud server to determine or can be by the vehicle of the car-mounted terminal of tractor and retinue vehicle
Information exchange between mounted terminal is realized.
Wherein, first tractor and retinue vehicle refer to vehicle it is first form combination driving when selected tractor and
Retinue vehicle.
Refer to that the origin of vehicle is identical with destination in same time specifically, being completely superposed, and part is identical is
Refer to identical in same time period inside points section.
The selection condition of the combined vehicle includes：
(1) using tractor as standard, the width of rear side retinue vehicle and the different widths of tractor are no more than 50cm；
(2) it is no more than 5cm between two vehicles being connected with each other for bindiny mechanism's height difference of vehicle connection.
The selection condition of the tractor includes：
(1) energy surplus of the tractor must be over the 90% of its peak；
(2) traction power of the tractor is more than the traction power of retinue vehicle.
Wherein, the energy refers to the raw material that power is provided for vehicle, mainly including gasoline, diesel oil or electricity.
The tractor is set with the lowest threshold of energy surplus according to its energy-output ratio, is detected in real time in driving conditions
The energy surplus of tractor, and determine according to the lowest threshold replacement of tractor：
(1) when energy surplus is less than or equal to the 110% of lowest threshold, redefine tractor and replace combination driving
Order dismisses combination driving；
(2) when energy surplus is higher than the 110% of lowest threshold, then continue to move ahead.
Specifically, in vehicular motion, tractor needs to monitor the Fuel Oil Remaining of this vehicle or electricity in real time；The present invention
Regulation, vehicle remaining capacity or oil mass as tractor are higher than the 110% of lowest threshold, such as less than this value, judge to lead
Draw the Fuel Oil Remaining or not enough power supply of vehicle, that is, need replacing towing vehicle；Wherein,
The lowest threshold refers to that vehicle is travelled from current location to destination or nearest gas station or charging station
Required oil mass or electricity.
And energy-output ratio makes fuel consumption or power consumption in finger vehicle unit distance.
If current tractor is judged as Fuel Oil Remaining or not enough power supply, this vehicle must be abandoned drawing, in following vehicle
The vehicle for meeting traction condition is reselected in as new tractor, rearranges the vehicle location that combination is driven a vehicle.
If not meeting the vehicle of traction condition in retinue vehicle, driving combination is directly dismissed, each according to respective
Planning driving path is driven a vehicle；Alternatively, gas station or charging station can also be searched for nearby, the energy is supplemented, then proceedes to combination driving.
The traffic route of the combination driving is planned according to the former traffic route of combined vehicle, and determines vehicle
Connection place and depart from place.
Preferably, the traffic route for combining driving selects flat section, can so ensure the stationarity of combination driving, together
The connection place of sample car and the disengaging ground flat broad road of point selection, convenient for being connected and disconnected from for vehicle.
The road for the place prioritizing selection wide flat that vehicle is connected and disconnected from；Prioritizing selection slow lane or track of keeping to the side
It carries out vehicle combination or directly can be attached after pulling over observing or depart from.
The length of the combination driving is less than the half of most short road road section length in its traffic route, combines the total of driving
Weight is less than the freight weight limit value in section.
The smoothness and security of combination driving can be ensured by combining the restriction of the length of driving.
The car-mounted terminal includes vehicle and connects control system, and the connection control system is connected with bindiny mechanism, this is
System control needs the bindiny mechanism of two combined vehicles connected to carry out position correction, realize combination the interconnection of vehicle,
In,
The bindiny mechanism includes lock connection and is connected with energy-absorbing.
Specifically, the mechanical lock buckle automatically controlled may be employed in lock connection, energy-absorbing connection, which uses, can be achieved to automatically control
Magnet adsorbing structure etc..
The car-mounted terminal includes vehicle derailing control system, and the vehicle derailing control system is connected with bindiny mechanism,
It controls and departs between forward and backward two connected vehicles, can realize automatically disengaging for vehicle.
The car-mounted terminal includes prompt system, and when vehicle reaches connection place or departs from place, prompt system is sent
Warning, for distinguishing connection vehicle and warning surrounding vehicles, wherein,
The prompt system includes phonetic warning, text importing warning and special light warning.
Specifically, the speech ciphering equipment that car-mounted terminal can be used in voice prompt sends voice reminder, text importing warning can be with
It is shown by the display screen of vehicle outside, and light signal can be previously set in special light warning, it is necessary to when sending warning,
The light sends signal.
Embodiment 2：
As shown in Figure 1, on the basis of embodiment 1, combined vehicle is determined by cloud server, including tractor and
Retinue vehicle determines, and carries out the planning of bind lines bus or train route line, the replacement of tractor and the scheduling of vehicle addition and disengaging,
Combination driving is as follows：
Step 101：Cloud server filters out same time period, the vehicle that route is completely superposed or partially overlaps；
Step 102：Cloud server selects combined vehicle from above-mentioned vehicle, and determines first tractor and each
Retinue vehicle；
Step 103：The message request for combining driving is sent to the car-mounted terminal of combined vehicle by cloud server, carries out letter
Breath confirms；
Step 104：Whether combined vehicle is made choice by car-mounted terminal agrees to combination driving, if agreeing to, performs step
105, otherwise directly terminate；
Step 105：Car-mounted terminal will have agreed to information and be uploaded to cloud server；
Step 106：Cloud server is combined the traffic route of driving according to the former traffic route of each combined vehicle
Planning, and determine connection place and depart from place；
Step 107：The traffic route, connection place and disengaging place are sent to each combined vehicle by cloud server
Car-mounted terminal；
Step 108：Combined vehicle confirms the traffic route for receiving combination driving, connection place and departs from place；
Step 109：Combined vehicle is according to the traffic route of combination driving, connection place and departs from place, drives a vehicle；
Step 110：In driving conditions, tractor detects its own energy surplus in real time, when energy surplus is higher than minimum threshold
Value 110% when, go to step 113, otherwise perform step 111；
Step 111：Cloud server reselects tractor from combined vehicle, and selection result is sent to each group
Close vehicle；
Step 112：The selection result that combined vehicle is sent according to cloud server is reconfigured, and continues to move ahead；
Step 113：In driving conditions, determine whether that vehicle needs to add in connection, if desired, perform step 114, otherwise
Go to step 116；
Step 114：The information of vehicles for needing to connect is sent to the car-mounted terminal of each combined vehicle by cloud server, and will
The information of each combined vehicle is sent to the car-mounted terminal for the vehicle for needing to connect；
Step 115：Need the vehicle connected that the vehicle is connected in former bind lines garage row by vehicle connectivity systems；
Step 116：It in driving conditions, determines whether that combined vehicle needs to depart from, if so, performing step 117, otherwise turns
To step 109；
Step 117：The combined vehicle for needing to depart from is sent to other combined vehicles by cloud server, is prepared vehicle and is taken off
From going to step 109.
In step 102 and step 110, according to the tractive force of the oil mass of combined vehicle or electricity and combined vehicle come really
Determine tractor and retinue vehicle.
In step 103 and step 104, to whether agreeing to be combined driving, it can be passed through by interior user vehicle-mounted
Terminal is confirmed.
In step 103, it is information and the combination driving as tractor or vehicle of accompanying that message request, which includes the vehicle,
Combined vehicle quantity, if the combined vehicle for retinue vehicle, further include the combined vehicle be located at bind lines garage arrange in
Position, i.e., which.
Embodiment 3：
As shown in Fig. 2, on the basis of embodiment 1, combined vehicle is determined by cloud server, including first traction
Vehicle is determined with retinue vehicle, and combines the planning of traffic route, the replacement of tractor and the scheduling of vehicle addition and disengaging
It is determined by tractor, combination driving is as follows：
Step 201：Cloud server filters out same time period, the vehicle that route is completely superposed or partially overlaps；
Step 202：Cloud server selects combined vehicle from above-mentioned vehicle, and determines first tractor and each
Retinue vehicle；
Step 203：The message request for combining driving is sent to the car-mounted terminal of combined vehicle by cloud server, carries out letter
Breath confirms；
Step 204：Whether combined vehicle is made choice by car-mounted terminal agrees to combination driving, if agreeing to, performs step
205, otherwise directly terminate；
Step 205：Car-mounted terminal will have agreed to information and be uploaded to cloud server；
Step 206：Respective former traffic route and information of vehicles are sent to the car-mounted terminal of tractor by retinue vehicle,
The car-mounted terminal of tractor is combined traffic route planning, and determines connection according to the former traffic route of each combined vehicle
Place and disengaging place；
Step 207：Tractor using its car-mounted terminal by the traffic route, connection place and depart from place be sent to respectively with
The car-mounted terminal of driving；
Step 208：Vehicle of accompanying confirms the traffic route for receiving combination driving, connection place and departs from place；
Step 209：Combined vehicle is according to the traffic route of combination driving, connection place and departs from place, drives a vehicle；
Step 210：In driving conditions, tractor detects its own energy surplus in real time, when energy surplus is higher than minimum threshold
Value 110% when, go to step 213, otherwise perform step 211；
Step 211：Tractor reselects tractor according to the information of vehicles of each retinue vehicle from retinue vehicle, and will
Selection result is sent to each retinue vehicle；
Step 112：Combined vehicle is reconfigured according to the selection result that first tractor is sent, and continues to move ahead；
Step 213：In driving conditions, determine whether that vehicle needs to add in connection, if desired, perform step 214, otherwise
Go to step 216；
Step 214：The car-mounted terminal that tractor will need the information of vehicles that connects to be sent to each retinue vehicle, and by each group
The information for closing vehicle is sent to the car-mounted terminal for the vehicle for needing to connect；
Step 215：Need the vehicle connected that the vehicle is connected in former bind lines garage row by vehicle connectivity systems；
Step 216：It in driving conditions, determines whether that combined vehicle needs to depart from, if so, performing step 217, otherwise turns
To step 209；
Step 217：The combined vehicle for needing to depart from is sent to retinue vehicle by tractor, is prepared vehicle derailing, is gone to step
Rapid 209.
In step 211, after definite tractor is reselected, the determine instruction of addition and the disengaging of the vehicle occurred
It is sent by the tractor.
In step 214, midway, which adds in the vehicle that combination is driven a vehicle, can directly be sent to its information of vehicles the vehicle of tractor
Mounted terminal can also be sent to the car-mounted terminal of tractor by cloud server.
Wherein, information of vehicles includes origin, destination, energy surplus and the traction power of vehicle.
In the present embodiment, the definite and tractor in place is determined, connects place and departs from due to combination traffic route
Replacement have combination drive a vehicle in tractor determine, contact is established directly between the car-mounted terminal of combined vehicle, without
The participation of cloud server, can increase the timeliness and convenience of entire combination driving, and the information for reducing cloud server is held
Carry pressure.
Embodiment 4：
Assuming that there is 4 pilotless automobiles, the place that is connected and disconnected from included in approach place shares 5 places, such as table 1
Four vehicle connections depart from shown in the statistical form in place, and wherein "○" represents the connection of vehicle, and "×" represents the disengaging of vehicle.
In table 1, the specific connection of 4 vehicles departs from situation and combination concurrence section is as follows：
(1) No. 1 vehicle is dispatched a car from A points, and No. 1 vehicle and No. 2 vehicles are attached in B points, is departed from No. 1 vehicle of D points, then No. 1 vehicle and 2
Number vehicle combination concurrence section is B points to D points；
(2) No. 2 vehicles and No. 3 vehicles are attached in B points, are departed from No. 3 vehicles of E points, then No. 1 vehicle, No. 2 vehicles, No. 3 vehicle combinations are common
Walking along the street section is B points to D points, and No. 2 vehicles and No. 3 vehicle combination concurrence sections are B points to E points；
(3) No. 3 vehicles and No. 4 vehicles are attached in C points, are departed from No. 4 vehicles of E points, then No. 1 vehicle, No. 2 vehicles, No. 3 vehicles and No. 4
The section of vehicle combination concurrence is C points to D points, and No. 2 vehicles, No. 3 vehicles and No. 4 combination vehicle concurrence sections are D points to E points.
Table 1：Four vehicle connections or the statistical form for departing from place
Specifically, the combination driving scheme of each point is as shown in Figure 2：
Fig. 3 (a) represents the combination driving situation of A points, and No. 1 vehicle is dispatched a car from A points, before B points are reached, this section only No. 1 vehicle
One vehicle traveling；
Fig. 3 (b) represents the combination driving situation of B points, and No. 1 vehicle, No. 2 vehicles and No. 3 vehicles reach B points, headed by selecting No. 1 vehicle
Vehicle is travelled in forefront, and the headstock of No. 2 vehicles and the tailstock of No. 1 vehicle are first attached, after finishing, the headstocks of No. 3 vehicles again with No. 2
The tailstock of vehicle is attached, and after three vehicle connections are fully completed, No. 2 vehicles and No. 3 vehicles close engine, by No. 1 vehicle of first bus
Power traction moves ahead；Before C points are reached, there are three No. 1 vehicle, No. 2 vehicles and No. 3 vehicles vehicle combination travelings in this section；
Fig. 3 (c) represents the combination driving situation of C points, and No. 1 vehicle, No. 2 vehicles, No. 3 vehicles and No. 4 vehicles reach C points, No. 1 vehicle, 2
Number vehicle, No. 3 vehicles keep that connection is constant, and the tailstock of No. 4 vehicle headstocks and No. 3 vehicles is attached, after finishing, No. 4 vehicles closing engines,
It moves ahead by the power traction of No. 1 vehicle of first bus；Before D points are reached, there are No. 1 vehicle, No. 2 vehicles, No. 3 vehicles and No. 4 four, vehicles in this section
Vehicle combination traveling；
Fig. 3 (d) represents the combination driving situation of D points, and No. 1 vehicle, No. 2 vehicles, No. 3 vehicles and No. 4 vehicles reach D points, No. 2 vehicles, No. 3
Vehicle, No. 4 vehicles keep connection constant, and No. 2 vehicles first start engine, and the tailstock of No. 1 vehicle departs from again with the headstock of No. 2 vehicles, No. 2 at this time
Vehicle draws No. 3 vehicles, No. 4 Chinese herbaceous peony rows as first bus；Before E points are reached, there are three No. 2 vehicles, No. 3 vehicles and No. 4 vehicles vehicle groups in this section
Close traveling；
Fig. 3 (e) represents the combination driving situation of E points, and No. 2 vehicles, No. 3 vehicles and No. 4 vehicles reach E points, and No. 4 vehicles, which first start, to be started
Machine, the headstock of No. 4 vehicles depart from again with No. 3 vehicle tailstock, by its scheme traveling of driving a vehicle；Then No. 3 vehicles start engine, No. 3 vehicles
Headstock departs from again with No. 2 vehicle tailstock, and No. 2 vehicles, No. 3 vehicles are travelled according to respective traffic route.
More vehicle combination travelling-crane methods proposed by the present invention, are particularly suitable for shipping automatic driving car, such unmanned vehicle is special
In the transport of cargo；When leaving entrepot, meet the vehicle of condition and can combine and link together, drawn and gone by first bus
It sails, departs from again when needing and changing driving route；So can be energy saving, the loss of vehicle arrangement can be also reduced, extends vehicle
Service life；The transport efficiency of goods stock can also be improved simultaneously, reduce the few inefficient situation of vehicle bulk production.
Particular embodiments described above, pair present invention solves the technical problem that, technical solution and advantageous effect carry out
It is further described, it should be understood that the above is only a specific embodiment of the present invention, is not limited to this
Invention, within the spirit and principles of the invention, any modification, equivalent substitution, improvement and etc. done should be included in this hair
Within bright protection domain.
Claims (10)
1. a kind of combination travelling-crane method of pilotless automobile, it is characterised in that：Mainly include：
(1) cloud server filters out the vehicle that route coincides；
(2) vehicle and combined vehicle that driving can be combined are selected, and is determined each after the tractor and tractor of front end
A retinue vehicle；
(3) traffic route that planning combination is driven a vehicle again；
(4) vehicle connects, vehicle stall of accompanying, and by tractor its combination is led to move ahead；
(5) combined vehicle can be achieved to realize the addition, disengaging and the replacement of tractor of vehicle at any time during driving.
2. the combination travelling-crane method of pilotless automobile according to claim 1, it is characterised in that：The route coincides
Vehicle be completely superposed or partially overlap including vehicle driving route, cloud server is connected with car-mounted terminal, in real time obtain
The real-time routes of vehicle driving.
3. the combination travelling-crane method of pilotless automobile according to claim 1, it is characterised in that：The combined vehicle
Selection condition includes：
(1) using tractor as standard, the width of rear side retinue vehicle and the different widths of tractor are no more than 50cm；
(2) it is no more than 5cm between two vehicles being connected with each other for bindiny mechanism's height difference of vehicle connection.
4. the combination travelling-crane method of pilotless automobile according to claim 3, it is characterised in that：The choosing of the tractor
Condition is taken to include：
(1) energy surplus of the tractor must be over the 90% of its peak；
(2) traction power of the tractor is more than the traction power of retinue vehicle.
5. the combination travelling-crane method of pilotless automobile according to claim 4, it is characterised in that：The tractor according to
Its energy-output ratio is set with the lowest threshold of energy surplus, detects the energy surplus of tractor, and root in driving conditions in real time
The replacement of tractor is determined according to the lowest threshold：
(1) when energy surplus is less than or equal to the 110% of lowest threshold, redefine tractor and replace combination driving order
Or dismiss combination driving；
(2) when energy surplus is higher than the 110% of lowest threshold, then continue to move ahead.
6. the combination travelling-crane method of pilotless automobile according to claim 1, it is characterised in that：The combination driving
Traffic route is planned according to the former traffic route of combined vehicle, and is determined the connection place of vehicle and departed from place.
7. the combination travelling-crane method of pilotless automobile according to claim 6, it is characterised in that：The combination driving
Length is less than the half of most short road road section length in its traffic route, and the total weight for combining driving is less than the freight weight limit value in section.
8. the combination travelling-crane method of pilotless automobile according to claim 1, it is characterised in that：The car-mounted terminal bag
Vehicle connection control system is included, the connection control system is connected with bindiny mechanism, and system control needs two groups connected
The bindiny mechanism for closing vehicle carries out position correction, realize combination the interconnection of vehicle, wherein,
The bindiny mechanism includes lock connection and is connected with energy-absorbing.
9. the combination travelling-crane method of pilotless automobile according to claim 1, it is characterised in that：The car-mounted terminal bag
Vehicle derailing control system is included, the vehicle derailing control system is connected with bindiny mechanism, between the forward and backward two connected vehicles of control
Depart from.
10. the combination travelling-crane method of pilotless automobile according to claim 1, it is characterised in that：The car-mounted terminal
Including prompt system, when vehicle reaches connection place or departs from place, prompt system sends warning, and vehicle is connected for distinguishing
With warning surrounding vehicles, wherein,
The prompt system includes phonetic warning, text importing warning and special light warning.
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| CN109597414A (en) * | 2018-12-06 | 2019-04-09 | 英华达（上海）科技有限公司 | The control loop and its method of self driving fleet average energy consumption |
| CN110109159A (en) * | 2019-05-22 | 2019-08-09 | 广州小鹏汽车科技有限公司 | Travel management method, device, electronic equipment and storage medium |
| CN110796884A (en) * | 2019-10-29 | 2020-02-14 | 北京百度网讯科技有限公司 | Formation driving decision method, device and equipment and computer readable storage medium |
| CN110874918A (en) * | 2018-08-31 | 2020-03-10 | 丰田自动车株式会社 | Co-running vehicle selection system |
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