CN108556845A - A kind of new vehicle is with system and method for speeding - Google Patents
A kind of new vehicle is with system and method for speeding Download PDFInfo
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- CN108556845A CN108556845A CN201810315833.5A CN201810315833A CN108556845A CN 108556845 A CN108556845 A CN 108556845A CN 201810315833 A CN201810315833 A CN 201810315833A CN 108556845 A CN108556845 A CN 108556845A
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- 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"
Abstract
The embodiment of the invention discloses a kind of new vehicles with system and method for speeding, the system includes the first vehicle and the second vehicle, first vehicle includes that the first controller, the first positioning device and the first vehicle vehicle V2V vehicular communication equipments, the second vehicle include second controller, the second positioning device and the 2nd V2V vehicular communication equipments；First the first vehicle of positioning device pair positions；Second the second vehicle of positioning device pair positions；The essential information of first vehicle is shared to the 2nd V2V vehicular communication equipments by the first controller by the first V2V vehicular communication equipments；Second controller carries out automatic Pilot control according to the location information of the second vehicle and the second vehicle of essential information pair shared to, so that the second vehicle follows the first vehicle to travel automatically.The example scheme makes vehicle can be realized simultaneously the automatic Pilot control on horizontal and vertical, and ensure that the entirely low cost with the system of speeding, low delay and reliability.
Description
Technical field
The present embodiments relate to automobiles with the technology of speeding, and espespecially a kind of new vehicle is with system and method for speeding.
Background technology
Currently, the control program based on high-precision map and based on Multi-sensor Fusion is two kinds of unmanned skills of mainstream
Art scheme.However, both schemes are required for spending a large amount of fund so that single vehicle cost is very high, therefore such system is only
Research use can be carried out in the lab.In addition, current automobile is with the mainly automatic adaptation cruise (ACC) of the technology of speeding, i.e., it is sharp
The data perceived with vehicle sensors, such as at a distance from front truck, to adjust the driving strategy of this vehicle, such as speed.This base
There can be certain disadvantage with the technology of speeding in sensor, being the technology first can only ensure longitudinal with speeding, and exists and prolong
The Costco Wholesale of Shi Xing, followed by sensor are higher.
Invention content
In order to solve the above-mentioned technical problem, an embodiment of the present invention provides a kind of new vehicles with system and method for speeding, energy
Enough so that vehicle realizes the automatic Pilot control on horizontal and vertical simultaneously, and it ensure that low cost, low delay and reliability.
In order to reach purpose of the embodiment of the present invention, an embodiment of the present invention provides a kind of new vehicles with the system of speeding, the vehicle
With the system of speeding include the first vehicle and the second vehicle, the first vehicle include the first controller, the first positioning device and the first vehicle-
Vehicle V2V vehicular communication equipments, the second vehicle include second controller, the second positioning device and the 2nd V2V vehicular communication equipments；
First positioning device is for positioning the first vehicle；Second positioning device is for determining the second vehicle
Position；
First controller, for the essential information of the first vehicle to be shared to second by the first V2V vehicular communication equipments
V2V vehicular communication equipments；
Second controller, for what is shared to according to the location information and the 2nd V2V vehicular communication equipments of the second vehicle
Essential information carries out automatic Pilot control to the second vehicle, so that the second vehicle follows first vehicle to travel automatically.
Optionally, which includes：Wheelpath, travel speed and acceleration；
Wherein, wheelpath includes：It is marked according to the location information of the first vehicle and preset time interval continuous
Multiple trajectory coordinates；Each the trajectory coordinates include：Longitude coordinate point and latitude coordinate point.
Optionally, automatic Pilot, which controls, includes：Crosswise joint to the second vehicle and longitudinally controlled.
Optionally, second controller is shared to according to the location information and the 2nd V2V vehicular communication equipments of the second vehicle
Essential information, to the second vehicle carry out automatic Pilot control, including：
From the wheelpath of the first vehicle, first except the variable time window in the front of the second vehicle is obtained
Trajectory coordinates A；Wherein, variable time window refers to variable preset duration；
Calculate the current driving of the line and the second vehicle between the current track coordinate B of the second vehicle and trajectory coordinates A
The angle in direction；
Crosswise joint is carried out according to preset the second vehicle of first relational expression pair, the second steering wheel for vehicle is turned with realizing
Angle controls；And according to preset the second vehicle of adaptive learning algorithms algorithm pair carry out it is longitudinally controlled, with control the second vehicle with
Spacing between first vehicle is maintained in the default error range of preset gauged distance.
Optionally, the first relational expression includes：
Δ ω=cpω*(ωAB-ωB)+cdω*(ωAB-ωB)；
Wherein, Δ ω is the steering wheel target rotation angle of the second vehicle, Δ ω>0 expression steering wheel rotates clockwise, Δ ω<0
Indicate that steering wheel rotates counterclockwise, cpωFor the first proportionality coefficient, ωABFor 2 lines of trajectory coordinates A and trajectory coordinates B and in advance
If reference direction angle, ωBFor the travel direction of the second vehicle and the angle of reference direction, cdωFor the second proportionality coefficient；
ωAB-ωBThe current driving direction of line and the second vehicle between the current track coordinate B and trajectory coordinates A of the second vehicle
Angle.
Adaptive learning algorithms algorithm includes following the second relational expression：
vo=cpv*(vB-vA)+civ*(dAB-ds)；
Wherein, voFor the target velocity of the second vehicle, cpvFor third proportionality coefficient, vAFor the travel speed of the first vehicle, vB
For the current driving speed of the second vehicle, civFor the 4th proportionality coefficient, dABBetween the first vehicle and the second vehicle it is current away from
From dsFor the gauged distance between preset first vehicle and the second vehicle.
Optionally, second controller is additionally operable to：In longitudinally controlled, collision detection is carried out in real time, and judging the first vehicle
And the second vehicle brake when may collide, when judging that the first vehicle and the second vehicle will not collide,
The operation of second the first vehicle of vehicle follow gallop is controlled according to adaptive learning algorithms algorithm.
Optionally, the first vehicle includes mono- Che-road V2I vehicular communication equipments；Second vehicle includes the 2nd V2I vehicle-mounted logical
Believe equipment；
First controller is additionally operable to：The state of signal lamp is obtained according to the first V2I vehicular communication equipments, and in signal lamp
State is stopped when being red light, continues to pass through when the state of signal lamp is green light；
Second controller is additionally operable to：The state of signal lamp is obtained according to the 2nd V2I vehicular communication equipments, and in signal lamp
When state is red light, stopped according to preset stopping distance between the first vehicle and the second vehicle, and in the shape of signal lamp
State continues to pass through when being green light.
With the method for speeding, this method includes for a kind of new vehicle：
The first vehicle and the second vehicle are positioned respectively；
The essential information of first vehicle is shared into the second vehicle；
According to the essential information that the location information of the second vehicle and the second vehicle share to, the second vehicle is carried out automatic
Driving control, so that the second vehicle follows the first vehicle to travel automatically.
Optionally, which includes：Wheelpath, travel speed and acceleration；Wherein, wheelpath includes：Root
The continuous multiple trajectory coordinates marked according to the location information of the first vehicle and preset time interval；Each trajectory coordinates packet
It includes：Longitude coordinate point and latitude coordinate point；
Automatic Pilot controls：Crosswise joint to the second vehicle and longitudinally controlled.
Optionally, the essential information shared to according to the location information of the second vehicle and the second vehicle, to the second vehicle
Automatic Pilot control is carried out, including：
From the wheelpath of the first vehicle, first except the variable time window in the front of the second vehicle is obtained
Trajectory coordinates A；Wherein, variable time window refers to variable preset duration；
Calculate the current driving of the line and the second vehicle between the current track coordinate B of the second vehicle and trajectory coordinates A
The angle in direction；
Crosswise joint is carried out according to preset the second vehicle of first relational expression pair, the second steering wheel for vehicle is turned with realizing
Angle controls；And according to preset the second vehicle of adaptive learning algorithms algorithm pair carry out it is longitudinally controlled, with control the second vehicle with
Spacing between first vehicle is maintained in the default error range of preset gauged distance.
The embodiment of the present invention includes：The vehicle follow gallop system includes the first vehicle and the second vehicle, and the first vehicle includes the
One controller, the first positioning device and mono- Che-vehicle V2V vehicular communication equipments, the second vehicle includes second controller, second fixed
Position device and the 2nd V2V vehicular communication equipments；First positioning device is for positioning the first vehicle；Second positioning device is used
It is positioned in the second vehicle；First controller, for passing through the first V2V vehicular communication equipments by the basic letter of the first vehicle
Breath shares to the 2nd V2V vehicular communication equipments；Second controller, for the location information and the 2nd V2V according to the second vehicle
The essential information that vehicular communication equipment shares to carries out automatic Pilot control, so that the second vehicle follows automatically to the second vehicle
The first vehicle traveling.Pass through the example scheme so that vehicle can be realized simultaneously the automatic Pilot on horizontal and vertical
Control, and ensure that the entirely low cost with the system of speeding, low delay and reliability.
The other feature and advantage of the embodiment of the present invention will illustrate in the following description, also, partly from explanation
It becomes apparent in book, or is understood by implementing the embodiment of the present invention.The purpose of the embodiment of the present invention and other advantages
It can realize and obtain by specifically noted structure in specification, claims and attached drawing.
Description of the drawings
Attached drawing is used for providing further understanding technical solution of the embodiment of the present invention, and one of constitution instruction
Point, the technical solution together with embodiments herein for explaining the embodiment of the present invention is not constituted to the embodiment of the present invention
The limitation of technical solution.
Fig. 1 is the new vehicle of the embodiment of the present invention with system structure diagram of speeding；
Fig. 2 is that the second controller of the embodiment of the present invention is vehicle-mounted logical according to the location information of the second vehicle and the 2nd V2V
The second vehicle of essential information pair that letter collaborative share arrives carries out the method flow diagram of automatic Pilot control；
Fig. 3 is the new vehicle of the embodiment of the present invention with method flow diagram of speeding；
Fig. 4 is the new vehicle applied to the second vehicle side of the embodiment of the present invention with method flow diagram of speeding.
Specific implementation mode
Understand in order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing pair
The embodiment of the present invention is described in detail.It should be noted that in the absence of conflict, the embodiment in the application and reality
Applying the feature in example mutually can arbitrarily combine.
Step shown in the flowchart of the accompanying drawings can be in the computer system of such as a group of computer-executable instructions
It executes.Also, although logical order is shown in flow charts, and it in some cases, can be with suitable different from herein
Sequence executes shown or described step.
Embodiment one
A kind of new vehicle is with the system of speeding, as shown in Figure 1, the vehicle follow gallop system includes the first vehicle 1 and the second vehicle
2, the first vehicle 1 includes the first controller 11, the first positioning device 12 and mono- Che-vehicle V2V vehicular communication equipments 13, the second vehicle
2 include second controller 21, the second positioning device 22 and the 2nd V2V vehicular communication equipments 23；
First positioning device 12 is for positioning the first vehicle 1；Second positioning device 22 be used for the second vehicle 2 into
Row positioning；
First controller 11, for being shared to the essential information of the first vehicle 1 by the first V2V vehicular communication equipments 13
2nd V2V vehicular communication equipments 23；
Second controller 21, for shared according to the location information of the second vehicle 2 and the 2nd V2V vehicular communication equipments 23
The essential information arrived carries out automatic Pilot control, so that the second vehicle 2 follows 1 row of the first vehicle automatically to the second vehicle 2
It sails.
In embodiments of the present invention, V2X is the basic platform of bus or train route cooperative achievement information exchange, by by people, Che He
Road infrastructure etc. interconnects on the platform that bus or train route cooperates with so that the various traffic main bodys in traffic environment can interact in real time
Information has stronger sensing capability, at the same realize traffic environment reconstruct, high accuracy positioning, real-time dynamic information it is interactive,
The functions such as multi-agent synergy safety and control.V2V is a kind of V2X specifically forms, and the communication predominantly between vehicle and vehicle provides friendship
Mutual platform, to realize the accurate communication of low time delay, low packet loss ratio.
In embodiments of the present invention, the control program based on high-precision map and based on Multi-sensor Fusion is current mainstream
Two kinds of unmanned technical solutions.However, both schemes are required for spending a large amount of fund so that single vehicle cost is very high,
Therefore such system can only carry out research use in the lab.What the embodiment of the present invention proposed is communicated automatic based on V2V
It drives, realizes a kind of automatic Pilot scheme of low cost, not by except difference high accuracy positioning (i.e. the first positioning device and the
Two positioning devices, all can be Differential positioning device) other than any onboard sensor, realize the formation of vehicle automatically with
It speeds and automatic Pilot.
In embodiments of the present invention, the new vehicle of the embodiment of the present invention can be applied to any unmanned with the system of speeding
And automatically in the technology of speeding, and it can also be that pilot steering, or both combines that the first vehicle 1, which can be automatic Pilot,
The specific drive manner of first vehicle 1 is not limited.In addition, for arbitrary one the second vehicle 2, the first vehicle
1 can be a vehicle can also be more vehicles, and similarly, for arbitrary one the first vehicle 1, which can be with
Be a vehicle can also be more vehicles.
In embodiments of the present invention, the communication between the first vehicle 1 and the second vehicle 2 can pass through signal receiving/transmission device
(such as antenna) is realized, but the information communication reliability of the signal receiving/transmission devices such as nature is low, and signal transmission distance is limited.This
It is communicated using Che-vehicle (V2V) in inventive embodiments scheme, has the advantages that reliability height, long transmission distance.
In embodiments of the present invention, above-mentioned first positioning device and the second positioning device can be any form of positioning dresses
Set, its specific implementation be not limited, may include it is following any one or more：Based on Chinese Beidou satellite navigation
The positioning device of system (BeiDou Navigation Satellite System, BDS) is based on american global positioning system
The positioning device of (Global Positioning System, GPS) is based on russian system (GLObal
NAvigation Satellite System, GLONASS) positioning device and be based on galileo satellite navigation system
The positioning device of (Galileo satellite navigation system).
In embodiments of the present invention, the first controller 11 and second controller 21 can include but is not limited to：It is vehicle-mounted (such as to set
Be placed in vehicle bottom) Industrial Control Computer and central processor CPU or long-range Industrial Control Computer and central processor CPU,
The specific implementation of first controller 11 and second controller 21 is not also limited.
Optionally, which can include but is not limited to：Wheelpath, travel speed and acceleration；
Wherein, wheelpath may include：The company marked according to the location information of the first vehicle 1 and preset time interval
Continuous multiple trajectory coordinates；Wherein each the trajectory coordinates may include：Longitude coordinate point and latitude coordinate point.
In embodiments of the present invention, in order to save cost, improve efficiency of transmission and reliability, and time delay is reduced, the first vehicle
1 and second is believed by the first V2V vehicular communication equipments 13 and the 2nd V2V vehicular communication equipments 23 substantially between vehicle 2
Breath is shared.Wherein, wheelpath is the location information life obtained after being positioned by first the first vehicle of positioning device pair
At, the generation method of wheelpath may include：According to preset from the trajectory coordinates in the location information obtained in real time
Time span or preset distance length select corresponding trajectory coordinates, and the trajectory coordinates selected are carried out according to sequencing
Arrangement, forms the wheelpath.
In embodiments of the present invention, in order to enable the second vehicle 2 to the accurate of the first vehicle 1, safety with speeding, can be by the
The travel speed and acceleration of one vehicle 1 are shared with the second vehicle 2, in order to which the second vehicle 2 is in real time according to the row of the first vehicle 1
Sail speed and phenomena such as acceleration adjusts itself speed, prevents with losing and colliding.
Optionally, automatic Pilot, which controls, includes：Crosswise joint to the second vehicle 2 and longitudinally controlled.
In embodiments of the present invention, at present existing automobile is utilized with the mainly automatic adaptation cruise (ACC) of the technology of speeding
Data (such as at a distance from front truck) that vehicle sensors perceive adjust the driving strategy of this vehicle (such as speed).It is this to be based on
Sensor with the technology of speeding, there are certain disadvantages, being the technology first can only ensure longitudinal with speeding, and there are time delay,
The Costco Wholesale of followed by sensor is higher.Therefore, the embodiment of the present invention propose based on Che-vehicle communicate (V2V) it is automatic with
The essential information speeded technology, and shared between the first V2V vehicular communication equipments 13 and the 2nd V2V vehicular communication equipments 23 can be with
Including but not limited to：Therefore the much informations such as wheelpath, travel speed and acceleration can make the second vehicle 2 be not limited to
Carried out according only to information such as travel speed and acceleration it is longitudinal with speeding, can also be carried out according to information such as wheelpaths laterally with
It speeds, i.e., realizes simultaneously to the crosswise joint of the second vehicle 2 and longitudinally controlled.
Optionally, as shown in Fig. 2, second controller 21 is vehicle-mounted logical according to the location information of the second vehicle 2 and the 2nd V2V
The essential information that letter equipment 23 shares to carries out automatic Pilot control, including step S101-S103 to the second vehicle 2：
S101, from the wheelpath of the first vehicle 1, obtain positioned at the second vehicle 2 front variable time window except
First trajectory coordinates A；Wherein, variable time window refers to variable preset duration；
When in embodiments of the present invention, due to generating wheelpath in aforementioned schemes, be according to preset time span or
Preset distance length selects what sequence after multiple estimated coordinates obtained, and therefore, the second vehicle is in the driving for tracking the first vehicle
When track, the trajectory coordinates in wheelpath can be tracked according to time span or distance length, specifically, according to when
Between length to the trajectory coordinates in wheelpath be tracked including：A preset duration can be pre-set, i.e., when above-mentioned
Between window obtain first track in the wheelpath of the first vehicle 1 other than the preset duration on the basis of current time and sit
Mark, i.e., above-mentioned trajectory coordinates A, and using trajectory coordinates A as tracking target.According to distance length to the rail in wheelpath
Mark coordinate be tracked including：A pre-determined distance can be pre-set, is properly termed as apart from window, with determining for current second vehicle
On the basis of site, first trajectory coordinates other than the pre-determined distance, i.e., above-mentioned rail in the wheelpath of the first vehicle 1 are obtained
Mark coordinate A, and using trajectory coordinates A as tracking target.
In embodiments of the present invention, above-mentioned preset duration and pre-determined distance can be according to different application scenarios or need
Self-defining is sought, its concrete numerical value is not limited, i.e., the preset duration and pre-determined distance are variable, therefore above-mentioned
Time window and it is properly termed as variable time window and variable range window apart from window.
S102, working as line and the second vehicle 2 between the current track coordinate B and trajectory coordinates A of the second vehicle 2 is calculated
The angle of preceding travel direction.
In embodiments of the present invention, in order to realize the control to the second vehicle 2 in the horizontal, the second vehicle can be obtained in real time
The 2 current track coordinate B and trajectory coordinates A based on trajectory coordinates B, and calculate between trajectory coordinates B and trajectory coordinates A
Line and the second vehicle 2 current driving direction angle, to determine to differ between current driving direction and target direction
Angle make second on crosswise joint so as to be modified and control according to the steering wheel of second vehicle of angle pair 2
Vehicle 2 is operated in as much as possible on the driving trace of the first vehicle 1.
S103, crosswise joint is carried out according to preset the second vehicle of first relational expression pair 2, to realize to the second direction of traffic
The corner of disk controls；And carried out according to preset the second vehicle of adaptive learning algorithms algorithm pair 2 it is longitudinally controlled, to control second
Spacing between vehicle 2 and the first vehicle 1 is maintained in the default error range of preset gauged distance.
In embodiments of the present invention, proportional-plus-derivative PD algorithms may be used and carry out horizontal direction adjusting, for example, can lead to
Amendment and control of the preset first relational expression realization to the steering wheel of the second vehicle are crossed, a variety of drive such as turns to, turn around to realize
Sail control.
Optionally, the first relational expression may include：
Δ ω=cpω*(ωAB-ωB)+cdω*(ωAB-ωB)；
Wherein, Δ ω is the steering wheel target rotation angle of the second vehicle 2, Δ ω>0 expression steering wheel rotates clockwise, Δ ω<
0 expression steering wheel rotates counterclockwise, cpωFor the first proportionality coefficient (proportionality coefficient of proportional component), ωABFor trajectory coordinates A and
The angle of trajectory coordinates B 2 lines and preset reference direction, ωBFor the travel direction and reference direction of second vehicle 2
Angle, cdωFor the second proportionality coefficient (proportionality coefficient of differentiation element)；ωAB-ωBFor the current track coordinate B of the second vehicle 2
The angle in the current driving direction of line and the second vehicle 2 between trajectory coordinates A.
In embodiments of the present invention, which can be specific for its according to different application scenarios self-definings
Direction does not limit, such as including but not limited to direct north.
In embodiments of the present invention, longitudinal control can be carried out by the second vehicle of the information pair such as travel speed and acceleration 2
System.Specific control method may be used presently, there are any existing control technology or algorithm realize, for example, above-mentioned automatic
Cruise (ACC) technology is adapted to, proportional, integral PI algorithms can also be used to carry out longitudinal velocity adjusting, for example, this hair may be used
The algorithm of second relational expression of bright embodiment, does not in embodiments of the present invention limit longitudinally controlled concrete methods of realizing
System.
Optionally, adaptive learning algorithms algorithm may include the second following relational expression：
vo=cpv*(vB-vA)+civ*(dAB-ds)；
Wherein, voFor the target velocity of the second vehicle 2, cpvFor third proportionality coefficient (proportionality coefficient of proportional component), vA
For the travel speed of the first vehicle 1, vBFor the current driving speed of the second vehicle 2, civFor the 4th proportionality coefficient (integral element
Proportionality coefficient), dABFor the current distance between the first vehicle 1 and the second vehicle 2, dsFor 1 and second vehicle of preset first vehicle
Gauged distance between 2.
In embodiments of the present invention, which can be specific for its according to different application scenarios self-definings
Numerical value is not limited.
In embodiments of the present invention, which can be according to different application scenarios self-definings, for it
Concrete numerical value is not limited.
Optionally, second controller 21 is additionally operable to：In longitudinally controlled, collision detection is carried out in real time, and in judgement first
Vehicle 1 and the second vehicle 2 brake when may collide, and will not be touched in the first vehicle 1 of judgement and the second vehicle 2
When hitting, the second vehicle 2 is controlled with the first vehicle 1 operation of speeding according to adaptive learning algorithms algorithm.
In embodiments of the present invention, the second vehicle 2 can be kept on longitudinally controlled using adaptive learning algorithms algorithm
For spacing with front truck in a preset value, it (may include being carried out according to the current state of the second vehicle to be carried out at the same time collision detection
Status predication, and determine whether to collide according to the state of prediction), if possible collide, then it can be according to preset peace
Full distance brakes, and otherwise can carry out adaptive cruise with the first vehicle of speeding.
Optionally, the first vehicle can also include mono- Che-road V2I vehicular communication equipments 14；Second vehicle 2 can also wrap
Include the 2nd V2I vehicular communication equipments 24；
First controller 11 is additionally operable to：The state of signal lamp is obtained according to the first V2I vehicular communication equipments 14, and in signal
The state of lamp is stopped when being red light, continues to pass through when the state of signal lamp is green light；
Second controller 21 can be also used for：The state of signal lamp is obtained according to V2I vehicular communication equipments 24, and in signal
When the state of lamp is red, stopped according to preset stopping distance between the first vehicle 1 and the second vehicle 2, and in signal
The state of lamp continues to pass through when being green.Embodiment two
A kind of new vehicle is with the method for speeding, it should be noted that any embodiment in above-mentioned system embodiment
Suitable for this method embodiment, this is no longer going to repeat them, as shown in figure 3, this method may include S201-S203：
S201, the first vehicle and the second vehicle are positioned respectively；
S202, the essential information of the first vehicle is shared into the second vehicle；
S203, the essential information shared to according to the location information and the second vehicle of the second vehicle, to the second vehicle into
Row automatic Pilot controls, so that the second vehicle follows the first vehicle to travel automatically.
Optionally, which includes：Wheelpath, travel speed and acceleration；Wherein, wheelpath includes：Root
The continuous multiple trajectory coordinates marked according to the location information of the first vehicle and preset time interval；Each trajectory coordinates packet
It includes：Longitude coordinate point and latitude coordinate point；
Automatic Pilot controls：Crosswise joint to the second vehicle and longitudinally controlled.
Optionally, the essential information shared to according to the location information of the second vehicle and the second vehicle, to the second vehicle
Automatic Pilot control is carried out, including：
From the wheelpath of the first vehicle, first except the variable time window in the front of the second vehicle is obtained
Trajectory coordinates A；Wherein, variable time window refers to variable preset duration；
Calculate the current driving of the line and the second vehicle between the current track coordinate B of the second vehicle and trajectory coordinates A
The angle in direction；
Crosswise joint is carried out according to preset the second vehicle of first relational expression pair, the second steering wheel for vehicle is turned with realizing
Angle controls；And according to preset the second vehicle of adaptive learning algorithms algorithm pair carry out it is longitudinally controlled, with control the second vehicle with
Spacing between first vehicle is maintained in the default error range of preset gauged distance.
Optionally, the first relational expression includes：
Δ ω=cpω*(ωAB-ωB)+cdω*(ωAB-ωB)；
Wherein, Δ ω is the steering wheel target rotation angle of the second vehicle, Δ ω>0 expression steering wheel rotates clockwise, Δ ω<0
Indicate that steering wheel rotates counterclockwise, cpωFor the first proportionality coefficient, ωABFor 2 lines of trajectory coordinates A and trajectory coordinates B and in advance
If reference direction angle, ωBFor the travel direction of the second vehicle and the angle of reference direction, CdωFor the second proportionality coefficient；
ωAB-ωBThe current driving direction of line and the second vehicle between the current track coordinate B and trajectory coordinates A of the second vehicle
Angle.
Adaptive learning algorithms algorithm includes following the second relational expression：
vo=cpv*(vB-vA)+civ*(dAB-ds)；
Wherein, voFor the target velocity of the second vehicle, cpvFor third proportionality coefficient, vAFor the travel speed of the first vehicle, vB
For the current driving speed of the second vehicle, civFor the 4th proportionality coefficient, dABBetween the first vehicle and the second vehicle it is current away from
From dsFor the gauged distance between preset first vehicle and the second vehicle.
Optionally, the method further includes：In longitudinally controlled, collision detection is carried out in real time, and judging the first vehicle
It brakes when may collide with the second vehicle, when judging that the first vehicle and the second vehicle will not collide, root
The operation of second the first vehicle of vehicle follow gallop is controlled according to adaptive learning algorithms algorithm.
Optionally, the method further includes：The state of signal lamp is obtained, and when the state of signal lamp is red, according to
Preset stopping distance stops between first vehicle and the second vehicle, and continues to lead to when the state of signal lamp is green
Row.
Embodiment three
A kind of new vehicle is suitable for the second vehicle side, it should be noted that in above-mentioned system embodiment with the method for speeding
Any embodiment may be applicable in this method embodiment, this is no longer going to repeat them, as shown in figure 4, this method can wrap
Include S301-S302：
S301, the second vehicle is positioned；
S302, the essential information shared to according to the location information and the second vehicle of the second vehicle, to the second vehicle into
Row automatic Pilot controls, so that the second vehicle follows the first vehicle to travel automatically；Wherein, which is the letter of the first vehicle
Breath.
Optionally, which includes：Wheelpath, travel speed and acceleration；Wherein, wheelpath includes：Root
The continuous multiple trajectory coordinates marked according to the location information of the first vehicle and preset time interval；Each trajectory coordinates packet
It includes：Longitude coordinate point and latitude coordinate point；
Automatic Pilot controls：Crosswise joint to the second vehicle and longitudinally controlled.
Optionally, the essential information shared to according to the location information of the second vehicle and the second vehicle, to the second vehicle
Automatic Pilot control is carried out, including：
From the wheelpath of the first vehicle, first except the variable time window in the front of the second vehicle is obtained
Trajectory coordinates A；Wherein, variable time window refers to variable preset duration；
Calculate the current driving of the line and the second vehicle between the current track coordinate B of the second vehicle and trajectory coordinates A
The angle in direction；
Crosswise joint is carried out according to preset the second vehicle of first relational expression pair, the second steering wheel for vehicle is turned with realizing
Angle controls；And according to preset the second vehicle of adaptive learning algorithms algorithm pair carry out it is longitudinally controlled, with control the second vehicle with
Spacing between first vehicle is maintained in the default error range of preset gauged distance.
Optionally, the first relational expression includes：
Δ ω=cpω*(ωAB-ωB)+cdω*(ωAB-ωB)；
Wherein, Δ ω is the steering wheel target rotation angle of the second vehicle, Δ ω>0 expression steering wheel rotates clockwise, Δ ω<0
Indicate that steering wheel rotates counterclockwise, CpωFor the first proportionality coefficient, ωABFor 2 lines of trajectory coordinates A and trajectory coordinates B and in advance
If reference direction angle, ωBFor the travel direction of the second vehicle and the angle of reference direction, cdωFor the second proportionality coefficient；
ωAB-ωBThe current driving direction of line and the second vehicle between the current track coordinate B and trajectory coordinates A of the second vehicle
Angle.
Adaptive learning algorithms algorithm includes following the second relational expression：
vo=cpv*(vB-vA)+civ*(dAB-ds)；
Wherein, voFor the target velocity of the second vehicle, cpvFor third proportionality coefficient, vAFor the travel speed of the first vehicle, vB
For the current driving speed of the second vehicle, civFor the 4th proportionality coefficient, dABBetween the first vehicle and the second vehicle it is current away from
From dsFor the gauged distance between preset first vehicle and the second vehicle.
Optionally, the method further includes：In longitudinally controlled, collision detection is carried out in real time, and judging the first vehicle
It brakes when may collide with the second vehicle, when judging that the first vehicle and the second vehicle will not collide, root
The operation of second the first vehicle of vehicle follow gallop is controlled according to adaptive learning algorithms algorithm.
Optionally, the method further includes：The state of signal lamp is obtained, and when the state of signal lamp is red, according to
Preset stopping distance stops between first vehicle and the second vehicle, and continues to lead to when the state of signal lamp is green
Row.
Example IV
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor
Realize the new vehicle described in embodiment three with the method for speeding when row.
The embodiment of the present invention includes：The vehicle follow gallop system includes the first vehicle and the second vehicle, and the first vehicle includes the
One controller, the first positioning device and mono- Che-vehicle V2V vehicular communication equipments, the second vehicle includes second controller, second fixed
Position device and the 2nd V2V vehicular communication equipments；First positioning device is for positioning the first vehicle；Second positioning device is used
It is positioned in the second vehicle；First controller, for passing through the first V2V vehicular communication equipments by the basic letter of the first vehicle
Breath shares to the 2nd V2V vehicular communication equipments；Second controller, for the location information and the 2nd V2V according to the second vehicle
The essential information that vehicular communication equipment shares to carries out automatic Pilot control, so that the first vehicle follows automatically to the second vehicle
The first vehicle traveling.Pass through the example scheme so that vehicle can be realized simultaneously the automatic Pilot on horizontal and vertical
Control, and ensure that the entirely low cost with the system of speeding, low delay and reliability.
Although the embodiment disclosed by the embodiment of the present invention is as above, the content only for ease of understanding the present invention and
The embodiment of use, is not limited to the embodiment of the present invention.Technical staff in any fields of the embodiment of the present invention,
Under the premise of not departing from the spirit and scope disclosed by the embodiment of the present invention, it can be appointed in the form and details of implementation
What modification and variation, but the scope of patent protection of the embodiment of the present invention, the model that must be still defined with appended claims
Subject to enclosing.
Claims (10)
1. a kind of new vehicle, with the system of speeding, which includes the first vehicle and the second vehicle, which is characterized in that institute
It includes the first controller, the first positioning device and mono- Che-vehicle V2V vehicular communication equipments, second vehicle to state the first vehicle
Including second controller, the second positioning device and the 2nd V2V vehicular communication equipments；
First positioning device is for positioning first vehicle；Second positioning device is used for described second
Vehicle is positioned；
First controller, for being total to the essential information of first vehicle by the first V2V vehicular communication equipments
It enjoys to the 2nd V2V vehicular communication equipments；
The second controller is used for the location information according to second vehicle and the 2nd V2V vehicular communication equipments
The essential information shared to carries out automatic Pilot control, so that second vehicle follows automatically to second vehicle
The first vehicle traveling.
2. new vehicle according to claim 1 is with the system of speeding, which is characterized in that the essential information includes：Driving rail
Mark, travel speed and acceleration；
Wherein, the wheelpath includes：The company marked according to the location information of first vehicle and preset time interval
Continuous multiple trajectory coordinates；Each the trajectory coordinates include：Longitude coordinate point and latitude coordinate point.
3. new vehicle according to claim 2 is with the system of speeding, which is characterized in that the automatic Pilot, which controls, includes：It is right
The crosswise joint of second vehicle and longitudinally controlled.
4. new vehicle according to claim 3 is with the system of speeding, which is characterized in that the second controller is according to described
The essential information that the location information of two vehicles and the 2nd V2V vehicular communication equipments share to, to second vehicle
Carry out automatic Pilot control, including：
From the wheelpath of first vehicle, obtain except the variable time window in the front of second vehicle
First trajectory coordinates A；Wherein, the variable time window refers to variable preset duration；
Calculate the current of line between the current track coordinate B and trajectory coordinates A of second vehicle and second vehicle
The angle of travel direction；
Crosswise joint is carried out to second vehicle according to preset first relational expression, to realize to second steering wheel for vehicle
Corner control；And it is longitudinally controlled to second vehicle progress according to preset adaptive learning algorithms algorithm, to control
The spacing stated between the second vehicle and first vehicle is maintained in the default error range of preset gauged distance.
5. new vehicle according to claim 4 is with the system of speeding, which is characterized in that first relational expression includes：
Δ ω=cpω*(ωAB-ωB)+cdω*(ωAB-ωB)；
Wherein, Δ ω is the steering wheel target rotation angle of second vehicle, Δ ω>0 expression steering wheel rotates clockwise, Δ ω<0
Indicate that steering wheel rotates counterclockwise, cpωFor the first proportionality coefficient, ωABFor 2 lines of trajectory coordinates A and trajectory coordinates B and in advance
If reference direction angle, ωBFor the angle of the travel direction and the reference direction of second vehicle, cdωFor the second ratio
Example coefficient；ωAB-ωBLine between the current track coordinate B and trajectory coordinates A of second vehicle and second vehicle
Current driving direction angle；
The adaptive learning algorithms algorithm includes following the second relational expression：
vo=cpv*(vB-vA)+civ*(dAB-ds)；
Wherein, voFor the target velocity of second vehicle, cpvFor third proportionality coefficient, vAFor the traveling speed of first vehicle
Degree, vBFor the current driving speed of second vehicle, civFor the 4th proportionality coefficient, dABFor first vehicle and described second
Current distance between vehicle, dsFor the gauged distance between preset first vehicle and second vehicle.
6. new vehicle according to claim 4 is with the system of speeding, which is characterized in that the second controller is additionally operable to：
It is described it is longitudinally controlled in, carry out collision detection in real time, and judging that first vehicle and second vehicle may occur
It brakes when collision, when judging that first vehicle and second vehicle will not collide, according to described adaptive
Cruise control algorithm controls the first vehicle operation described in second vehicle follow gallop.
7. new vehicle according to claim 3 is with the system of speeding, which is characterized in that first vehicle includes the first vehicle-
Road V2I vehicular communication equipments；Second vehicle includes the 2nd V2I vehicular communication equipments；
First controller is additionally operable to：The state of signal lamp is obtained according to the first V2I vehicular communication equipments, and described
The state of signal lamp is stopped when being red light, continues to pass through when the state of the signal lamp is green light；
The second controller is additionally operable to：Obtain the state of the signal lamp according to the 2nd V2I vehicular communication equipments, and
When the state of the signal lamp is red light, carried out according to preset stopping distance between first vehicle and second vehicle
Parking, and continue to pass through when the state of the signal lamp is green light.
8. a kind of new vehicle is with the method for speeding, which is characterized in that the method includes：
The first vehicle and the second vehicle are positioned respectively；
The essential information of first vehicle is shared into second vehicle；
According to the essential information that the location information of second vehicle and second vehicle share to, to described second
Vehicle carries out automatic Pilot control, so that second vehicle follows first vehicle to travel automatically.
9. new vehicle according to claim 8 is with the method for speeding, which is characterized in that the essential information includes：Driving rail
Mark, travel speed and acceleration；Wherein, the wheelpath includes：According to the location information of first vehicle and preset
Continuous multiple trajectory coordinates of time interval mark；Each the trajectory coordinates include：Longitude coordinate point and latitude coordinate point；
The automatic Pilot controls：Crosswise joint to second vehicle and longitudinally controlled.
10. new vehicle according to claim 9 is with the method for speeding, which is characterized in that described according to second vehicle
The essential information that location information and second vehicle share to carries out automatic Pilot control to second vehicle,
Including：
From the wheelpath of first vehicle, obtain except the variable time window in the front of second vehicle
First trajectory coordinates A；Wherein, the variable time window refers to variable preset duration；
Calculate the current of line between the current track coordinate B and trajectory coordinates A of second vehicle and second vehicle
The angle of travel direction；
Crosswise joint is carried out to second vehicle according to preset first relational expression, to realize to second steering wheel for vehicle
Corner control；And it is longitudinally controlled to second vehicle progress according to preset adaptive learning algorithms algorithm, to control
The spacing stated between the second vehicle and first vehicle is maintained in the default error range of preset gauged distance.
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