CN108536148A - A kind of new Vehicular automatic driving method - Google Patents
A kind of new Vehicular automatic driving method Download PDFInfo
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- CN108536148A CN108536148A CN201810369749.1A CN201810369749A CN108536148A CN 108536148 A CN108536148 A CN 108536148A CN 201810369749 A CN201810369749 A CN 201810369749A CN 108536148 A CN108536148 A CN 108536148A
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- 230000006855 networking Effects 0.000 claims description 27
- 230000004888 barrier function Effects 0.000 abstract description 14
- 230000007423 decrease Effects 0.000 abstract description 3
- 230000002035 prolonged effect Effects 0.000 abstract 1
- 230000006399 behavior Effects 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 230000008901 benefit Effects 0.000 description 6
- 230000015572 biosynthetic process Effects 0.000 description 4
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- 241001269238 Data Species 0.000 description 3
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- 206010039203 Road traffic accident Diseases 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000003542 behavioural effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0295—Fleet control by at least one leading vehicle of the fleet
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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Abstract
A kind of new Vehicular automatic driving method,The travel route of oneself is prolonged when driving using the automatic driving vehicle of this method,It can constantly look for the front vehicles for having guiding conditions,It finds rear just as the guide car of oneself,This vehicle is controlled using the vehicle-mounted automated driving system of oneself, and traveling is followed to guide car implementation,It follows and keeps same track when driving and level off to the minimum safe braking distance of this vehicle,Stop following after guide car loses guiding conditions and finds new guide car again,The presence evading behavior can make this vehicle clearly accurately perceive barrier of the guide car to barrier at this time,Therefore sensing capability of this vehicle to barrier is improved,Even if physical impacts have occurred with barrier in guide car,This vehicle can also utilize the minimum safe braking distance between two vehicles, and brake is stopped safely,Therefore this automatic Pilot method significantly improves the safety of automatic driving vehicle,The hardware performance of existing automatic driving vehicle can also suitably be reduced simultaneously makes cost decrease.
Description
Technical field
The present invention relates to a kind of new Vehicular automatic driving methods, belong to automotive field.
Background technology
Existing automatic Pilot method is required for directly removing disturbance of perception object by vehicle-mounted automated driving system, then could be real
It applies and evades.The problem of existing method, is that the sensing capability of Vehicular automatic driving system can be limited by cost, if required
This vehicle can perceive very by force, and vehicle-mounted automated driving system cost will be caused to rise violently；As long as slightly reducing barrier sensing capability
Can significantly reduce cost, but in this way and driving safety may be influenced, thus realize automatic Pilot high security and it is low at
Originally it is conflict.For this purpose, proposed using car networking technology in the automatic Pilot method of some prior arts, other vehicles are allowed
Upload that front obstacle information is shared to rear car, but the shared obstacle information of this car networking is to the vehicle at far place below
Obviously do not have uniqueness and real-time.
To solve the above-mentioned problems, the present invention proposes that a kind of new Vehicular automatic driving method, this method can improve certainly
The dynamic vehicle that drives can also make automatic driving vehicle cost to the sensing capability of barrier to improve automatic Pilot safety
It reduces.
The present invention describes a kind of new Vehicular automatic driving method, is as follows：
Step S1, destination data is inputted on the digital map and generates travel route, this vehicle obtains the travel route number
According to；
Step S2, Ben Cheyan numerical maps generate travel route traveling, start simultaneously at find the travel route on meet
The front vehicles of guiding conditions；
If step S3, front vehicles at least disclosure satisfy that guiding conditions identical with this vehicle travel direction, the front
Vehicle just becomes the guide car of this vehicle, this vehicle can start Car following model, on the contrary then cannot start Car following model；
Step S4, after starting Car following model, this vehicle follows guide car in same vehicle under the control of vehicle-mounted automated driving system
Road travels, and is more than with the distance between guide car and levels off to the minimum safe braking distance of this vehicle, if guide car is prominent
Guiding conditions are so lost, then this vehicle also exits Car following model therewith；
Step S5, step S2, step S3, step S4 are repeated, until reaching the destination.
The beneficial effects of the invention are as follows such：Prolong the travel route traveling of oneself using the automatic driving vehicle of this method
When, the front vehicles for having guiding conditions can be constantly looked for, find it is rear be just used as the guide car of oneself, using oneself it is vehicle-mounted oneself
Dynamic control loop controls this vehicle and follows traveling to guide car implementation, follows and keeps same track when driving and level off to this vehicle most
Small safety shut-down distance stops following and finds new guide car again after guide car loses guiding conditions.As it can be seen that this method
It is a kind of automatic Pilot method for initiatively " finding, follow, follow end, find again " on the travel route of oneself；With this
It contrasts, it is to the greatest extent that vehicle-mounted automated driving system, which detects the control logic after front vehicles, in existing automatic Pilot method
Power evades the front vehicles being detected, so the prior art is the automatic Pilot side of a kind of random " it was found that, evade, surmount "
Method.That is front vehicles when the harm of oneself in pairs or threat, are belonged to the thing that had better not be encountered by the prior art；And
This method is front vehicles to be treated as the necessary partner for helping oneself safety traffic, belongs to the thing for needing to make great efforts to look for.This
The benefit that method is brought to automatic Pilot：First is, since this vehicle is to follow guide car closely in same lanes, this vehicle can be with
Judge front obstacle situation according to the traveling Behavioral change of guide car, such as will necessarily slow down when guide car encounters barrier
Or modified line is evaded, this is equivalent to be that this vehicle has issued accurate barrier pre-warning signal in advance, this vehicle utilizes vehicle-mounted automatic
Control loop can be accurately detected this deceleration or the modified line behavior of guide car completely, to enable this vehicle clearly to perceive
In the presence of the barrier for needing to evade in front of oneself track, simultaneously because also keeping at least one minimum peace between Ben Che and guide car
Full braking distance, so this vehicle there is sufficient reaction time and enough brakes to stop distance the barrier, to significantly improve
The safety of this vehicle automatic Pilot.Second point benefit is：Since this vehicle follows the same lanes of guide car, at this time guide car just as
The physics in this Chinese herbaceous peony portion extends, and physical impacts occur after the failure of guide car avoiding barrier, this vehicle still can utilize two
Minimum safe braking distance between vehicle, which is realized to stop, to stop or evades, it is seen that obviously has pole using the automatic driving vehicle of this method
High safety.Thirdly benefit is：Existing vehicle-mounted automated driving system hardware cost can be reduced.Such as it can suitably reduce
The technical indicator of vehicle-mounted automated driving system obstacle sensor makes cost decrease, while using this method to thus causing
Safety decline made up, to keep the overall security of vehicle constant, thereby realize reduction automatic driving vehicle
The purpose of cost.4th benefit be：It is not high to solve uniqueness deficiency and real-time when car networking shares obstacle information
Problem, the vehicle that principle is to use this method be all using vehicle-mounted automated driving system immediately following guide car same track with
Minimum safe braking distance form into columns traveling, therefore guide car be shared with by car networking formation rear car real-time obstacle information it is several
It is equivalent to the Effect on Detecting that the formation rear bar obstacle sensor of oneself has been positioned on the tens meters of distant places in front, or almost etc.
The detection range imitated in the formation rear bar obstacle sensor of oneself improves tens meters of remote Effect on Detecting, therefore such
Obstacle information obvious real-time and uniqueness for rear car all significantly improve.
Description of the drawings
Attached drawing 1 is the flow chart of the present invention.
Specific implementation mode
To keep above-mentioned purpose, the feature, advantage of the present invention more obvious and easy to understand, below in conjunction with the accompanying drawings to the present invention's
Specific implementation mode elaborates.Many details will be illustrated in the following description, it is therefore intended that help this field skill
Art personnel are more fully understood by the present invention, but it is clear that those skilled in the art can be under the premise of without prejudice to intension of the present invention
It changes and implements with the other manner that is more specifically described different from the present embodiment, therefore the present invention is not by following public tool
The limitation of body embodiment.
Attached drawing 1 is a kind of flow chart of new Vehicular automatic driving method of the present invention, is specifically comprised the following steps：
Step S1, destination data is inputted on the digital map and generates travel route, this vehicle obtains the travel route number
According to.
The purpose of the step be for this vehicle input travel route, the travel route be implement subsequently several steps of this method
Basic data, such as correct find guide car, correct the links such as guide car traveling followed to be required for using the travel route number
According to.Such as this if there are the both sides that two cars drive towards fork in the road respectively in front, is only driven towards when sailing to fork in the road in this garage
The front truck of that fork in the road of vehicle traveling route direction can just be used as guide car.
Using this method this automatic driving vehicle (hereinafter referred to as：This vehicle) the traveling behavioural characteristic on highway is：It is first
First press numerical map planning travel route traveling, then actively found on this travel route guide car, follow guide car,
It is found again after following, followed by realize that more guide cars take over guiding or segmented guidance traveling, it is clear that this is a kind of
Completely new automatic Pilot travels behavior.It is this to go actively to find based on itself travel route and front truck is followed to be characterized in this method
It is different from the key of existing ACC adaptive learning algorithms (Adaptive Cruise Control) system, because existing ACC is certainly
Can also front vehicles be followed to travel although adapting to cruise control system, it is this to follow a kind of only passive spacing holding not
It can consider itself destination problem, will not consider the travel route problem of oneself, will not more be gone based on the travel route of oneself
It actively finds, judge, a certain front truck is selected to be used as guide car, this is the essential distinction of the two.
The vehicle-mounted of automobile can be happened at and lead by inputting destination data on the digital map and generating the behavior of travel route
In boat system, can also be happened at in the smart mobile phone of car networking data connection or other intelligent terminal, the car networking service
Device can generate travel route according to the destination data combination numerical map that smart mobile phone or other intelligent terminal input, and pass through
Car networking is sent to this vehicle.
Step S2, Ben Cheyan numerical maps generate travel route traveling, start simultaneously at find the travel route on meet
The front vehicles of guiding conditions.
The step refers to that this vehicle starts to prolong road traveling on the travel route of numerical map generation, can be based on existing at this time
There is the traveling behavior of automatic Pilot method, can also be the even remote driving of the traveling behavior based on pilot steering, simultaneously
Begin look for the front vehicles for meeting guiding conditions on the travel route.The searching ability can automatically be driven using the vehicle-mounted of this vehicle
The sensing capability of system is sailed, the data and computing capability of car networking server can also be utilized.Obviously, current vehicle-mounted to drive automatically
It sails system and reliably working is fully able to the object for perceiving the such signature of automobile, even if suitably reducing obstacle sensor
Technical indicator remains on the barrier for being enough to perceive this signature of automobile, but for other special-shaped, small-sized, low reflections,
The sensing capability of the existing obstacle sensor of low contrast object also has larger uncertainty, and here it is existing automatic Pilot technology peaces
The main reason for property is insufficient entirely.
Present car networking is gradually popularized, and many vehicles all have a car networking ability, thus with car networking data connection
This vehicle and other vehicles not only can upload the vehicle brand of oneself, vehicle performance to using the vehicle network server of this method
The static informations such as parameter, driver's qualification, travel route, can also traveling when upload oneself real time position, in real time
Speed, real time running direction, various sensors perception data etc. information.The especially high end sensor such as laser radar
The environment sensing data of generation and barrier perception data etc., if can also upload to the car networking server using this method
And be shared with it is subsequent be guided vehicle, will significantly improve follow guide car travel the safety for being guided vehicle.Although no
Being each vehicle has the high end sensor such as laser radar, but can at least upload the real time position data of oneself and traveling road
Line, it is that this vehicle finds demand of the evaluation work of guide car to data that can thus meet car networking server.Therefore, step
S2 also needs to Ben Che and other vehicles are connect with vehicle network data, and at least uploads the real time position data of oneself and traveling road
Line is to car networking server.
If step S3, front vehicles at least disclosure satisfy that guiding conditions identical with this vehicle travel direction, the front
Vehicle just becomes the guide car of this vehicle, this vehicle can start Car following model, on the contrary then cannot start Car following model.
The step refers to：Front vehicles at least need it is identical as this vehicle travel direction could be as the guide car of this vehicle.
Certainly identical as this vehicle travel direction is lowest term, if such as front vehicles and this vehicle on the basis of travel direction is identical
Travel speed is also close will to be more suitable for guide car as this vehicle.On this basis, if front vehicles can also with this vehicle
It will be more suitable for guide car as this vehicle with closer distance.After finding the guide car for being suitble to this vehicle, this vehicle just has
Start the condition of Car following model；If can not find qualified front vehicles, this vehicle continues to independent traveling while continuing
It finds.
Judge whether front vehicles have guiding conditions, can directly implement by the vehicle-mounted automated driving system of this vehicle.
At this time vehicle-mounted automated driving system using self-sensor device and processor it may determine that go out this vehicle to front vehicles it is real-time away from
It is reverse driving or traveling in the same direction and speed etc. so as to calculate front vehicles with respect to this vehicle, this is existing from data
There is the most basic ability that vehicle-mounted automated driving system has been provided with, therefore its calculating process no longer specifically repeats herein.
In addition, car networking server can be used for judging whether front vehicles have guiding conditions, specific method is：Vehicle
Networked server calculates vehicle traveling according to step S2 this vehicle uploaded and other vehicle real time position datas and travel route
Direction and mutual distance select travel direction identical and join as guide car, and by vehicle apart from close positioned at this front side
After net sends out the information of successful match to two vehicles, this vehicle can start Car following model.Apparently according to real time position data
The specific method that travel direction, speed, path, distance of vehicle etc. is calculated with travel route is early already belonging to the prior art, already
The extensive use in Baidu map, google maps, various automobile navigation instrument products, is those skilled in the art's required technical knowledge and skills
Basic knowledge, therefore it is not required to the specific calculating process of repeated description herein.If having not only one, the vehicle of guiding conditions, vehicle
Networked server can be found out according to the running course data of step S2 these vehicles uploaded wherein with this vehicle travel route weight
Fold a most most suitable guide cars of conduct.
Step S4, after starting Car following model, this vehicle follows guide car in same vehicle under the control of vehicle-mounted automated driving system
Road travels, and is more than with the distance between guide car and levels off to the minimum safe braking distance of this vehicle, if guide car is prominent
Guiding conditions are so lost, then this vehicle also exits Car following model therewith.
Car following model described in the step refers to that this vehicle follows traveling to guide car implementation, and this follows and runs over
This vehicle and the same lanes of guide car, distance are more than and level off to the minimum safe braking distance of this vehicle in journey.The Car following model
It can be by manually booting or starting automatically：It wherein manually boots and refers to by this vehicle driver according to vehicle-mounted automated driving system
It is successfully found the feedback signal after guide car and manually starts the Car following model of vehicle-mounted automated driving system and draw to control this vehicle and follow
Guide-car travels；Automatic start refers to this vehicle automatic trigger vehicle after the successful match information for receiving the transmission of car networking server
The Car following model for carrying automated driving system follows guide car to travel to control this vehicle；If the vehicle-mounted automatic Pilot system of this certain vehicle
System be successfully found after guide car can also automatic trigger itself Car following model.Car following model requires this vehicle with guide car same
The purpose of lanes is obviously for realizing that guide car is the effect that this vehicle clears the way with early warning to the maximum extent；It keeps simultaneously big
In and to level off to the purpose of minimum safe braking distance of this vehicle be clearly to take emergency braking or workaround reserved for this vehicle
Go out safe space, but the closer this distance the better, this is because the remoter centre of two vehicle mutual distances may be inserted into other vehicles
Or other unexpected factors are more, this more close other vehicle of distance more are difficult to be inserted into and reduce the effect of other unexpected factors
Also better.Certainly, following distance of this vehicle under the control of vehicle-mounted automated driving system is clearly the process of a dynamic change,
Road conditions can reduce following distance as possible when permission, otherwise following distance can increase, constantly level off to so this is one
The dynamic behaviour of the minimum safe braking distance of this vehicle.Obviously accurate security control following distance is to existing vehicle-mounted automatic Pilot system
System is most simple, is easiest to, without the basic capacity of any enforcement difficulty.During this vehicle follows guide car to travel, draw
Guide-car may be detached from the travel route of this vehicle due to the different or other factors from this vehicle destination, and the vehicle-mounted of this vehicle is driven automatically at this time
The system of sailing can automatically exit from Car following model, to avoid the guide car for being detached from this vehicle travel route from taking other places to.At this point,
This vehicle, which still can continue independently to travel under the control of vehicle-mounted automated driving system, can also switch to driver's pilot steering, be
Again next guide car is found to create conditions.
Can also be that the guide car and Ben Che implementations collect using car networking and car networking server after Car following model starts
Payment work, specific method are：After this vehicle starts bootmode, uploaded according at least to guide car and Ben Che by car networking server
Position data be to implement to collect expense with garage to this vehicle, and to guide car binding account implementation cost payment.It is specifically counted
Expense rule and price are voluntarily formulated by vehicle net or other operation enterprises for runing the guide service project, such as can be by following
The mileage charging of traveling, according to follow the time-based charging of traveling, by the function charging for the time and mileage for following traveling, by guiding
Vehicle is that this vehicle is taken etc. by the obstacle information gauge that vehicle net is shared.Following involved in above-mentioned charging regulation example
Mileage travelled follows running time that can upload to a series of position datas of car networking server according to Ben Che and guide car
It is obtained after calculating.Its principle is：A series of position datas that each car uploads can be depicted as a mobile route, wherein two
Vehicle mileage travelled of mobile route intersection after receiving the information of successful match of car networking server transmission is obviously exactly
This vehicle follows the mileage of traveling, and the time corresponding to this section of coincidence path is exactly the time that this vehicle follows traveling, in this time
The quantity for the obstacle information from guide car that section Nei Benche is received is exactly that guide car is the obstacle information that this vehicle is shared
Quantity.As it can be seen that car networking server at least can follow traveling according to guide car and the Ben Che position data uploaded to this vehicle
Charging is implemented in behavior, can be more preferable if can also upload other charge informations that collect certainly.When completion follows traveling behavior to this vehicle
Charging work after, it is clear that it is very simple that the e-payment account that Ben Che and guide car are bound, which is withholdd or paid all,
The prior art can be implemented using present common common e-payment means, specifically be repeated no more completely.Guide car is paid
Expense is advantageous in that：The guiding initiative and enthusiasm that guide car can be improved keep two vehicles formation traveling more tacit.If drawn
If guide-car itself is also an automatic driving vehicle, these automatic Pilots can also be runed to compensate buying with the guiding income
The sky high cost that vehicle is paid, or even realize profit.
Step S5, step S2, step S3, step S4 are repeated, until reaching the destination.
The step refers to that this vehicle is driving towards according to travel route on the road of oneself destination, it is difficult to find one and oneself
Travel route all identical vehicle from beginning to end, even if really having comeed up against such vehicle, this vehicle also is difficult to from beginning
Follow vehicle traveling until destination to whole.Therefore, this method in practical application generally all can multiple switching and booting vehicle, it is this
The process of multiple switching and booting vehicle is equivalent to someone and the process that more guide cars take over this vehicle of guiding is scheduled on the way, at this
Taking over for a little guide cars guides this lower vehicle that can more safely arrive at the destination of oneself.Obviously, this multiple switching and booting
The behavior of vehicle is exactly that the process of step S2, step S3, step S4 is repeated several times.In the gap stage of switching and booting vehicle, that is,
After a upper guide car is detached from this vehicle travel route, next guide car do not find also or do not start guiding this period,
This vehicle can both utilize the vehicle-mounted automated driving system of itself to implement traditional automatic Pilot and travel, can also switch to pilot steering or
Person's remote driving, until finding next guide car and starting and it is followed to travel.Under normal circumstances, it on the way encounters in the same direction
The probability of driving vehicle is very high, therefore when the automatic driving vehicle for using this method on the way travels, mainly to draw
It is auxiliary based on automatic Pilot traveling under guide-car's guiding, with vehicle-mounted automated driving system independence automatic Pilot, this is all than whole process
The obvious higher of prior art safety of vehicle-mounted automated driving system independence automatic Pilot can only be relied on.
The remote driving technology of this method Billy mobile radio networks such as 4G, 5G communication network is obviously safer, this is
Because the remote control person of remote driving is not obviously in actual traffic environment, it is distant that this will not be injured having a car accident
The remote control person driven is controlled, therefore they are not the maximum benefit stakeholder of traffic accident；But involved in this method
Guide car is completely different with this, and driver of guide car itself is also in real road environment, is the maximum profit of traffic accident
One of beneficial stakeholder, therefore for the guide car for being driven in person by driver, driver absolutely can wholeheartedly protect first
Itself and vehicle safety are demonstrate,proved, then this at the heel vehicle obviously will be safer.If guide car is also an automatic Pilot
Or automatic driving vehicle, since the obstacle detection ability and recognition capability of current vehicle-mounted automated driving system can not ensure
100% is accurate, once therefore guide car there is obstacle recognition and unsuccessfully cause collision, this at the heel vehicle still can utilize
Implement brake with the minimum safe braking distance reserved when vehicle or evade to ensure inherently safe.
As it can be seen that this method is already significantly better than existing automatic Pilot method in terms of safety and is based on 4G, 5G communication network
The remote driving method of network, but this high security is not by the obstacle sensor performance for improving automated driving system
What index was reached, this anticipates to being natively difficult to because of high price into for the automatic driving vehicle in consumer level market
Justice is great.This is because the obstacle sensor price that existing automatic Pilot technology uses have reached ten times of vehicle price with
On, but still collision accident takes place frequently, safety causes anxiety.In this case, then to promote obstacle sensor performance indicator
Method exchange the promotion of safety for, vehicle cost will be caused further to rise violently, this is unacceptable.At this point, only using
This method can realize safety before keeping existing automatic driving vehicle obstacle sensor performance immovable under topic
It is promoted, it is clear that this is of great significance.
Another purposes of this method is to reduce the cost of existing automatic driving vehicle.Because existing automatic Pilot technology
Safety has been able to the requirement for meeting the special scenes such as low speed automatic Pilot or simple road conditions automatic Pilot, but institute
It is too high with obstacle sensor price.If suitably reducing the requirement of obstacle sensor performance indicator, price can significantly drop
It is low, but can also reduce vehicle simultaneously to the sensing capability of barrier and then reduce automatic Pilot safety, it can utilize at this time
This method compensates, and reduces automatic driving vehicle cost to realize, but purpose that safety is not dropped.
The foregoing is merely a prefered embodiment of the invention and institute's application technology principle, the description thereof is more specific and detailed, but simultaneously
It cannot be therefore understands that for the limitation to the scope of the claims of the present invention.For those of ordinary skill in the art, this is not being departed from
Under the premise of inventive concept, more shape changeable and improvement etc. can also be made, these are all within the scope of protection of the present invention.
Claims (5)
1. a kind of new Vehicular automatic driving method, which is characterized in that including following steps：
Step S1, destination data is inputted on the digital map and generates travel route, this vehicle obtains the running course data；
Step S2, Ben Cheyan numerical maps generate travel route traveling, start simultaneously at find the travel route on meet guiding
The front vehicles of condition；
If step S3, front vehicles at least disclosure satisfy that guiding conditions identical with this vehicle travel direction, the front vehicles
Just become the guide car of this vehicle, this vehicle can start Car following model, on the contrary then cannot start Car following model；
Step S4, after starting Car following model, this vehicle follows guide car in same track row under the control of vehicle-mounted automated driving system
It sails, and is more than with the distance between guide car and levels off to the minimum safe braking distance of this vehicle, if guide car loses suddenly
Guiding conditions are lost, then this vehicle also exits Car following model therewith；
Step S5, step S2, step S3, step S4 are repeated, until reaching the destination.
2. a kind of new Vehicular automatic driving method according to independent claims 1, it is characterized in that：The step S2 is also needed
Want this vehicle and other vehicles to be connect with vehicle network data, and at least upload oneself real time position data and travel route to vehicle
Networked server.
3. a kind of new Vehicular automatic driving method according to independent claims 1, it is characterized in that：The step S3 is also needed
Car networking server is wanted to calculate vehicle traveling side according to the real time position data and travel route of Ben Che and the upload of other vehicles
To and mutual distance, select travel direction identical and positioned at this front side distance it is close as guide car, and pass through car networking
After sending out the information of successful match to two vehicles, this vehicle can start Car following model.
4. a kind of new Vehicular automatic driving method according to independent claims 1, it is characterized in that：The step S4 may be used also
With after this vehicle starts bootmode, the position data uploaded according at least to guide car and Ben Che by car networking server is to this vehicle
Be to implement to collect expense with garage, and to guide car binding account implementation cost payment.
5. a kind of new Vehicular automatic driving method according to independent claims 2, it is characterized in that：The step S2 may be used also
The laser radar data for the front vehicles for having laser radar is uploaded to car networking server, and it is shared with by car networking
This vehicle being guided below.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109799827A (en) * | 2019-02-20 | 2019-05-24 | 百度在线网络技术（北京）有限公司 | Vehicle cluster planing method, device, equipment and computer-readable medium |
| CN110138485A (en) * | 2019-05-17 | 2019-08-16 | 爱驰汽车有限公司 | On-vehicle information broadcast system, method, equipment and storage medium |
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