CN108682144A - A kind of same road segment vehicle series connection driving system - Google Patents
A kind of same road segment vehicle series connection driving system Download PDFInfo
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- CN108682144A CN108682144A CN201810491249.5A CN201810491249A CN108682144A CN 108682144 A CN108682144 A CN 108682144A CN 201810491249 A CN201810491249 A CN 201810491249A CN 108682144 A CN108682144 A CN 108682144A
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- 230000005540 biological transmission Effects 0.000 claims description 64
- 238000007600 charging Methods 0.000 claims description 49
- 238000005183 dynamical system Methods 0.000 claims description 24
- 238000004891 communication Methods 0.000 claims description 16
- 238000001514 detection method Methods 0.000 claims description 15
- 238000012795 verification Methods 0.000 claims description 11
- 230000000007 visual effect Effects 0.000 claims description 5
- 230000008054 signal transmission Effects 0.000 claims description 4
- 206010039203 Road traffic accident Diseases 0.000 abstract description 4
- 230000015572 biosynthetic process Effects 0.000 abstract description 4
- 230000001360 synchronised effect Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 7
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Classifications
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/53—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells in combination with an external power supply, e.g. from overhead contact lines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention belongs to automotive fields, and in particular to a kind of same road segment vehicle series connection driving system, including active vehicle, passive vehicle, vehicle match module.Pass through same section vehicle series connection driving system, needs can be made to pass through at least two cars formation series connection driving relationship with a road section, that is the vehicle of forefront is accelerated according to traffic conditions, slow down, front vehicle is synchronous with the speed of front vehicles and brake formation, it is automatic to follow front, without artificial acceleration-deceleration, driver only needs the good steering wheel of control, road pressure can be alleviated in this way, pass through more vehicles in same time, reduce traffic accident, reduce brake frequency of use, it is more environmentally-friendly energy saving, it travels for long-distance fleet's self-driving, the driving burden of front vehicle driver can also be mitigated.
Description
Technical field
The invention belongs to automotive fields, and in particular to a kind of same road segment vehicle series connection driving system.
Background technology
With the sustained and rapid development of China's economic society, vehicle guaranteeding organic quantity continues to keep rapid growth situation.By
In the end of the year 2017, national vehicle guaranteeding organic quantity is up to 3.10 hundred million.2017 in the motor-driven of public safety traffic management department new registration registration
33,520,000, vehicle, wherein new registration register 28,130,000, automobile, record high.Currently, in the most cities urban district morning and evening
There is congested link in peak period, in heavy congestion section, vehicle is walked or drive slowly for stop-go or in minimum speed, vehicle mostly
Main mood in this case is easy impatience, and road conditions and driving state in this case have more maximum probability occur to scrape or
It knocks into the back, blocks plus stifled.In the case of fleet's long-distance self-driving travelling, each car is required for a driver to drive with breathless interest,
To avoid fatigue driving, two people are needed alternately to drive in one vehicle of long-distance travel.
Invention content
The present invention is in view of the above-mentioned problems, provide a kind of same road segment vehicle series connection driving system.
The technical solution used in the present invention is as follows：A kind of same road segment vehicle series connection driving system, including active vehicle,
Passive vehicle, vehicle match module, the active vehicle include the first dynamical system, first brake system, first information transmission
Module；
The passive vehicle includes the second dynamical system, the second brake system, the second information transmission modular；
The first information transmission module connects the first dynamical system, first brake system, the second information transmission modular, and described the
The brake information of the drive speed information of first dynamical system and first brake system is transferred to by one information transmission modular
Second information transmission modular；
Second information transmission modular connects the second dynamical system, the second brake system；
Second dynamical system includes constant-speed-cruise control module, and the constant-speed-cruise control module is according to the first dynamical system
Drive speed information the second dynamical system of adjust automatically speed.
Second brake system is braked according to the brake synchronizing information of first brake system；
The vehicle match module makes active vehicle form traveling relationship of connecting, first information transmission module with passive vehicle match
It connect to form information transmission relationship with the second information transmission modular.
The active vehicle includes the first navigation system being connect with first information transmission module, and the passive vehicle includes
The second navigation system being connect with the second information transmission modular, the vehicle match module is according to the navigation road of the first navigation system
Line matches vehicle and section of connecting with the navigation routine of the second navigation system.
The active vehicle includes the first communication system being connect with first information transmission module, and the passive vehicle includes
The second communication system being connect with the second information transmission modular, first communication system and the second communication system pass through the first letter
It ceases transmission module and the second information transmission modular or directly to form sound picture by signal transmission synchronous.
The passive vehicle includes following distance control system, following distance control system connection second brake
System, the following distance control system include front truck spacing detection module, and current vehicle spacing detection module is detected with front truck
When spacing distance is less than spacing limit value, so that the brake of the second brake system is reduced and drive speed.
The spacing limit value is set according to speed is driven.
The passive vehicle includes vehicle verification system, and the vehicle verification system is equipped with Car license recognition module, when described
Vehicle verification system identification front vehicles are not the matched active vehicles of institute or can not find the matched active vehicle of institute in the visual field
, the vehicle verification system sends instructions to vehicle match module, so that passive vehicle is disconnected traveling of connecting with active vehicle and closes
System.
The first information transmission module, the second information transmission modular, vehicle match module by blueteeth network,
One or more realization short distance information transmission in ZigBee, Wi-Fi, UWB.
Including power supply shared system, the power supply shared system includes the power supply conveying dress being arranged in the active vehicle tailstock
It sets, in the power source receiving apparatus of passive vehicle headstock, the power supply conveying device and power source receiving apparatus can form charge transport
Relationship.
The power source receiving apparatus is automatic charging arm, and the power supply conveying device is to be adapted to the automatic charging arm
Socket.
The power supply conveying device is wireless charging expelling plate, and the power source receiving apparatus is wireless charging receiver board, institute
Wireless charging relationship can be formed by stating power supply conveying device and power source receiving apparatus.
Beneficial effects of the present invention are as follows：By same section vehicle series connection driving system, needs can be made to pass through with all the way
At least two cars of section form series connection driving relationship, i.e. the vehicle of forefront is accelerated according to traffic conditions, slowed down, rear vehicle
It is synchronouss with the speed of front vehicles and brake is formationed, follow automatically in front of, without artificial acceleration-deceleration, driver only needs handle
Steering wheel has been controlled, road pressure can be alleviated in this way, in same time by more vehicles, traffic accident has been reduced, subtracts
It brakes less frequency of use, it is more environmentally-friendly energy saving, it travels for long-distance fleet's self-driving, opening for front vehicle driver can also be mitigated
Vehicle is born.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the structural schematic diagram of charging arm.
Fig. 3 is the flow chart of the method for the present invention.
Fig. 4 is the structural schematic diagram for transferring component.
Fig. 5 is the structural schematic diagram of wireless charging receiver board fixing piece.
Fig. 6 is the structural schematic diagram of x-axis drive component fixing piece.
Specific implementation mode
Below with attached drawing and specific embodiment, the present invention can be better described.
A kind of same road segment vehicle series connection driving system, including active vehicle, passive vehicle, vehicle match module, it is described
Active vehicle includes the first dynamical system, first brake system, first information transmission module；
The passive vehicle includes the second dynamical system, the second brake system, the second information transmission modular；
The first information transmission module connects the first dynamical system, first brake system, the second information transmission modular, and described the
The brake information of the drive speed information of first dynamical system and first brake system is transferred to by one information transmission modular
Second information transmission modular；
Second information transmission modular connects the second dynamical system, the second brake system；
Second dynamical system includes constant-speed-cruise control module, and the constant-speed-cruise control module is according to the first dynamical system
Drive speed information the second dynamical system of adjust automatically speed；
Second brake system is braked according to the brake synchronizing information of first brake system；
The vehicle match module makes active vehicle form traveling relationship of connecting, first information transmission module with passive vehicle match
It connect to form information transmission relationship with the second information transmission modular.
By same section vehicle series connection driving system, needs can be made to pass through at least two cars formation series connection with a road section
The vehicle of driving relationship, i.e. forefront is accelerated according to traffic conditions, is slowed down, the speed and brake of front vehicle and front vehicles
Vehicle forms synchronization, follows front automatically, is not necessarily to artificial acceleration-deceleration, and driver only needs the good steering wheel of control, in this way may be used
To alleviate road pressure, in same time by more vehicles, traffic accident is reduced, reduces brake frequency of use, more ring
Protect it is energy saving, for long-distance fleet's self-driving travel, the driving burden of front vehicle driver can also be mitigated.One vehicle can be simultaneously
As active vehicle and passive vehicle, active vehicle or passive vehicle can also be only used as.Such as three vehicles of priority, first
Active vehicle of the vehicle as second car, active vehicle of the second car as the passive vehicle and third vehicle of first car,
Passive vehicle of the third class vehicle as second car.Can also be three vehicles of priority, first car is as second car and
The active vehicle of three vehicles, second car and third vehicle form driving relationship of connecting with first car.
Throttle and the brake of passive vehicle, the throttle when passive vehicle or brake are connected with section vehicle series connection driving system
It is artificially trampled, then the relationship of driving of connecting being automatically stopped between active vehicle, autonomous driving.
The active vehicle includes the first navigation system being connect with first information transmission module, and the passive vehicle includes
The second navigation system being connect with the second information transmission modular, the vehicle match module is according to the navigation road of the first navigation system
Line matches vehicle and section of connecting with the second information transmission modular navigation routine.It can be by identical traveling by analyzing navigation data
The vehicle in section forms series connection driving relationship in the section, and strange vehicle in city is suitble to form series connection driving relationship.Vehicle
Can be mounted on a vehicle with module, by obtaining the navigation information of opponent vehicle, in conjunction with the navigation information of one's own side's vehicle, judge
Whether match and match the section driven；It can also be carried on high in the clouds, high in the clouds passes through big data analysis navigation information and vehicle
Location information screens the vehicle for being suitble to matching to form series relationship, by Auto-matching or sends and suggests that match information makes to drive
The person of sailing agrees to that matched mode makes vehicle form series connection driving relationship.
The active vehicle includes the first communication system being connect with first information transmission module, and the passive vehicle includes
The second communication system being connect with the second information transmission modular, first communication system and the second communication system pass through the first letter
It ceases transmission module and the second information transmission modular or directly to form sound picture by signal transmission synchronous.It realizes between connecting vehicle
Communication information interacts, and the good communication being suitble between the long-distance fleet of self-driving travelling also is adapted for the strange vehicle of series connection driving relationship
Communication contact between.
The passive vehicle includes following distance control system, following distance control system connection second brake
System, the following distance control system include front truck spacing detection module, and current vehicle spacing detection module is detected with front truck
When spacing distance is less than spacing limit value, so that the brake of the second brake system is reduced and drive speed.Ensure safe distance between vehicles, following distance
The control authority of the second brake system of control system pair is needed prior to the second brake system according to the brake of first brake system
The control authority of synchronizing information brake.
The spacing limit value is set according to speed is driven.Driving at low speed and the safety set by scorch
Spacing is different, and can be determined current with this by the critical safety distance range corresponding to a variety of speeds stored in advance
The corresponding critical safety distance range of speed, can also be according to the spacing limit value Sa and passive vehicle actual vehicle speed Vh's
Functional relation calculates, i.e. Sa=k1Vh 2+k2Vh+k3；Wherein k1, k2 are correction factor, and k3 is constant, related coefficient according to,
Dynamic best safety spacing can be calculated automatically, and specific calculating process is as follows：
1. by the theoretical critical fire area safe distance between vehicles range corresponding to a variety of speeds stored in advance, theoretical critical fire area safe distance between vehicles is determined
Fitting function of the range about speed；
2. according to above-mentioned fitting function, the theoretical critical fire area safe distance between vehicles that passive vehicle should be kept with active vehicle is determined；
3. passive vehicle calculates the braking distance S to stop in emergency according to the speed of active vehicle1, then dynamic best safety spacing be
Sa-S1。
The passive vehicle includes vehicle verification system, and the vehicle verification system is equipped with Car license recognition module, when described
Vehicle verification system identification front vehicles are not the matched active vehicles of institute or can not find the matched active vehicle of institute in the visual field
, the vehicle verification system sends instructions to vehicle match module, and main passive vehicle is made to disconnect traveling of connecting with active vehicle
Relationship.Prevent so other vehicle entered between active vehicle and passive vehicle by the method jumped the queue or passive vehicle with it is passive
When between vehicle, and speed is caused to be mismatched with front vehicles, if driver and not to be noted this point, thing easily occurs
Therefore the spacing for also placing passive vehicle and active vehicle is excessive, the surface conditions between two cars differ greatly.
The passive vehicle includes speed verification system, and the speed is verified systems connection or worked as by navigation system
The Maximum speed limit in preceding section, when vehicle speed is more than the Maximum speed limit of current road segment, by the vehicle for reducing cruise module
Speed avoids active vehicle from exeeding the regulation speed driving, and passive vehicle follows furious driving and leads to penalty note even traffic accident accident.
The passive vehicle includes radar induction detection device, reaches influence when radar senses that front certain distance has
The object of vehicle drive size（For example object height is more than vehicle chassis height）, sending a command to brake system makes vehicle stop
Only, and alarm is sent, detects that there are dynamic object in left front and/or right front when radar incudes detection device, is sent out according to distance
It send instruction to brake system to make Slow Down or stopping, such as judging that dynamic object is less than 5 meters apart from vehicle and is more than 3 meters, be decelerated to
10Km/h judges that inanimate object is less than 3 meters apart from vehicle, stops being expanded to 3 meters with a distance from vehicle until inanimate object.In this way
It prevents front truck article from falling caused accident, and effectively avoids the row humans and animals to go across the road.
The first information transmission module, the second information transmission modular, vehicle match module by blueteeth network,
One or more realization short distance information transmission in ZigBee, Wi-Fi, UWB.
Including power supply shared system, the power supply shared system includes the power supply conveying dress being arranged in the active vehicle tailstock
It sets, in the power source receiving apparatus of passive vehicle headstock, the power supply conveying device and power source receiving apparatus can form charge transport
Relationship.For that between electric vehicle, can realize that power supply is shared in driving relationship of connecting, it thus is avoided that in the fleet of long-distance travel
Because the power supply continuation of the journey of Some vehicles does not catch up with the time waste of entire fleet caused by other vehicles, a fleet can lead to
It crosses the shared realization of power supply while leaving, rest simultaneously.
It is realized and is charged by wired connection, is lost in electric transmission process small.Charging can make charging plug be automatic telescopic,
Can displacement up and down, self-aligning charging arm configuration, be mounted on automobile head, be automatically aligned to the electric discharge of the front vehicles tailstock
Socket stretches out connection and realizes charging.
Above-mentioned automatic telescopic, can displacement up and down, self-aligning charging arm configuration as shown in Fig. 2, include scissor-type
Stretching structure 2, the first rotating arm 4 for being connected to 3 end of fixed arm, connects the fixed arm 3 for connecting 2 end of scissor type telescopic structure
It is connected on the second rotating arm 5 of 4 end of first rotating arm, scissor type telescopic structure 2 realizes that driving is flexible by hydraulic mechanism 1, Gu
Between fixed arm 3 and first rotating arm 4 and between first rotating arm 4 and the second rotating arm 5 respectively by can rotate left and right and on
The articulated structure of lower rotation connects, and is precisely controlled number of rotation by driving motor, can pass through gear drive.Discharge socket
Place is equipped with signal projector, and such as Infrared Projector, laser signal transmitter, corresponding signal is arranged in the first electric vehicle
Receiver and automatic alignment apparatus, automatic alignment apparatus are carried out automatic by the signal projector position that signal receiver detects
It calculates between length, fixed arm 3 and the first rotating arm 4 of scissor type telescopic structure 2 and first rotating arm 4 and the second rotating arm 5
Between rotation angle, and send a signal to corresponding driving device, realization is automatically aligned to driving.Fixed arm 3 and first rotates
Minimum angle between arm 4 is 15-30 degree, and the minimum angle between first rotating arm 4 and the second rotating arm 5 is 15-30 degree,
It can shrink and fold up completely when charging, when charging, first extend scissor type telescopic structure 2, then lead to
Motor of overdriving makes fixed arm 3 and first rotating arm 4 and first rotating arm 4 reach corresponding angle with the second rotating arm 5, alignment
It discharges behind the position of spigot, makes the elongation of scissor type telescopic structure 2 that charging plug be made to be inserted into electric discharge socket again.Vehicular battery
It is connect by electric wire between charging plug.
The power supply conveying device is wireless charging expelling plate, and the power source receiving apparatus is wireless charging receiver board, institute
Wireless charging relationship can be formed by stating power supply conveying device and power source receiving apparatus.By way of wireless charging, physics is not needed
Charging is realized in contact, safer, in the queuing process for waiting for red light, can sporadicly be charged.Electromagnetism sense may be used in wireless charging
Formula wireless charging technology is answered, magnetic resonance wireless charging technology can also be used.But opposite wired charging, in electric transmission process
It is lost larger.It can be with setting signal transmitter, such as infrared signal on wireless charging expelling plate set by the second electric vehicle
Transmitter, laser signal transmitter, are arranged corresponding signal receiver and automatic alignment apparatus, wirelessly on the first electric vehicle
Charging receiver board is to be fixed on transfer component to keep it removable, and being moved to wireless charging expelling plate by automatic alignment apparatus corresponds to
Position.In the case that two cars are substantially aligned with, up and down by wireless charging receiver board or so, make signal projector and signal
Receiver reaches maximum charge efficiency.
Wherein, component is transferred, as shown in figure 4, including two groups of x-axis drive components, two groups of y-axis drive components, the x-axis is driven
8, two wireless chargings receptions of x-axis lead screw 7, x-axis sliding rail that dynamic component includes x-axis stepper motor 6, connect with x-axis driving motor 6
Plate fixing piece 9, the x-axis stepper motor 6 are fixed on x-axis sliding rail 8, the wireless charging receiver board fixing piece 9 and the x-axis
The sliding cooperation of sliding rail 8, the wireless charging receiver board fixing piece 9 is interior to be equipped with the x-axis feed screw nut coordinated with the x-axis lead screw 7
901, four wireless charging receiver board fixing pieces 9 and wireless charging receiver boards, four angles are separately connected.The y-axis driving group
12, two x-axis drive components of y-axis lead screw 11, y-axis sliding rail that part includes y-axis stepper motor 10, connect with y-axis stepper motor 10
Fixing piece 13, the y-axis stepper motor 10 are fixed on y-axis sliding rail 12, the x-axis drive component fixing piece 13 and the y-axis
The sliding cooperation of sliding rail 12, the x-axis drive component fixing piece 13 is interior to be equipped with the y-axis feed screw nut coordinated with the y-axis lead screw 11
1302, two x-axis drive component fixing pieces 13 are fixedly connected with x-axis drive component.Connect wireless charging receiver board and electricity
Electric wire between source is equipped with coiling apparatus 14, realizes that electric wire follows the displacement of wireless charging receiver board and folding and unfolding is flexible.
Wherein, wireless charging receiver board fixing piece 9, as shown in figure 5, include wireless charging receiver board fixing piece ontology 905,
X-axis feed screw nut 901, wireless charging receiver board fixing groove 902, wireless charging receiver board fixing screws 903, x-axis are equipped in it
Position limiting slide block 904, the wireless charging receiver board fixing screws 903 connect with 9 ontology of wireless charging receiver board fixing piece for screw thread
It connecing, stretches into 902 compressible wireless charging receiver board of wireless charging receiver board fixing groove, position limiting slide block 904 is located in x-axis sliding rail 8,
Cooperation is slid with it.
Wherein, x-axis drive component fixing piece 13, as shown in fig. 6, include x-axis drive component fixing piece ontology 1301, in
Equipped with y-axis feed screw nut 1302, x-axis drive component fixing groove 1303, y-axis position limiting slide block 1304, x-axis sliding rail 8 is fixed on x-axis drive
Dynamic 1303 bottom of component fixing groove, can be connected and fixed, x-axis lead screw 7 passes through x-axis drive component fixing groove by way of gluing
1303, free to rotate, y-axis position limiting slide block 1304 is located at y-axis sliding rail 12, and cooperation is slid with it.X-axis drive component fixing groove
1303 width is adapted to x-axis sliding rail 8, and the height of x-axis drive component fixing groove 1303 is higher than the height of x-axis lead screw 7.
Above-mentioned same road segment vehicle series connection driving system can be mounted on existing on-vehicle navigation apparatus or intelligent terminal,
Vehicle equipped with corresponding configuration can actively choose whether to be ready to open series connection driving system, when row of connecting with the formation of other vehicles
When sailing relationship, inform that car owner, car owner can choose whether to continue series connection traveling as needed by message pop-up or voice reminder
Relationship and whether close series connection driving system.
For the method for building up of the series connection traveling relationship between strange vehicle, as shown in figure 3, specifically can be as follows：
（1）The navigation routine of other vehicles, or networking big data analysis navigation routine or vehicle are obtained by short-range signal connection
Positioning.
（2）Active vehicle and passive vehicle are determined according to navigation routine and vehicle location and follow section.
（3）Vehicle match establishes series connection traveling relationship, first information transmission module and the second information transmission modular is made to be formed
Signal transmission relationship.
（4）Start the cruise of passive vehicle, speed is matched with the speed of active vehicle, and brake is same with active vehicle
Step.
（5）Surface conditions are detected, and are judged according to corresponding situation, instruction is sent out, it is specific as follows：
1. being combined by way of identifying car plate, whether the mode front vehicles of vehicle location position are active vehicle or front is
It is no to have active vehicle, if front is always active vehicle, maintain series connection traveling relationship；If front vehicles are not matched
Active vehicle or field of front vision in have no active vehicle, then disconnect series connection and traveling relationship and remind car owner；
2. detecting following distance, judge whether be less than spacing limit value with front truck spacing, spacing limit value is true according to vehicle speed
It is fixed, if be always held in spacing limit value with front truck spacing, maintain series connection traveling relationship；If the vehicle with front truck spacing
Away from more than spacing limit value, then self-actuating brake is slowed down, until with front truck spacing in the speed limit value of corresponding speed；
3. detection speed whether exceed the speed limit, when vehicle speed be less than current road segment speed limit, then maintain series connection traveling relationship；If vehicle
Speed is more than current road segment speed limit, then self-actuating brake is slowed down, and speed is made to be maintained within current road segment speed limit；
4. whether detection front has larger object or dynamic object, series connection traveling relationship is not maintained then；When radar senses just
Front certain distance has the object for reaching and influencing vehicle drive size（For example object height is more than vehicle chassis height）, transmission refers to
Enabling to brake system makes vehicle stop, and sends alarm, when radar induction detection device detects that left front and/or right front have
Dynamic object, sending a command to brake system according to distance makes Slow Down or stopping, such as judges that dynamic object is small apart from vehicle
It is more than 3 meters in 5 meters, is decelerated to 10Km/h, judges that inanimate object is less than 3 meters apart from vehicle, stop until inanimate object is from vehicle
Distance be expanded to 3 meters.
（6）When corresponding influence factor disappears, for the vehicle that brake deceleration or brake stop, if active vehicle one
It directly in the visual field, is then maintained in current road segment speed limit and is accelerated in speed, if keeping up with active vehicle, with active vehicle
It is travelled with identical speed, if active vehicle can not be kept up with, disconnects series connection traveling relationship and remind car owner；
Judgement keeps up with active vehicle and is judged by following rule：When passive vehicle reaches passive vehicle pair at a distance from active vehicle
The spacing limit value answered then judges that passive vehicle has kept up with active vehicle, can slow down, and in moderating process, keeps quilt
Motor-car is the spacing limit value corresponding to 1 ~ 1.5 times of passive vehicle at a distance from active vehicle, until speed and active vehicle
Speed it is suitable；
Judgement can not keep up with active vehicle and be judged by following rule：Active vehicle is had no in field of front vision, being then judged as can not
Keep up with active vehicle；
Accelerator still maintains step（5）In every detection.
（7）When disconnecting series connection traveling relationship and reminding car owner, step is automatically returned to again（1）, attempt to establish new series connection
Driving relationship, wherein car owner can actively drive vehicle, and former active vehicle or new is found by modes such as lane change, acceleration, decelerations
Active vehicle, formed series connection driving relationship.
It, specifically can be as follows for being familiar with the method for building up of the series connection traveling relationship between vehicle：
(1) fleet start before, formed vehicle get in touch with group, determine vehicle order, according to vehicle order formed Adjacent vehicles it
Between series connection travel relationship, and shared navigation information, vehicle position information, and form fleet's communication.
(2) fleet starts, and first car, which starts, to be driven, and speed, braking conditions are real-time transmitted to front vehicle, rear vehicle
Accelerated according to relevant information, slowed down, brake, and the speed of its own, braking conditions being real-time transmitted to its corresponding rear
Vehicle.
(3) surface conditions are detected, and are judged according to corresponding situation, instruction is sent out, it is specific as follows：
1. being combined by way of identifying car plate, whether the mode front vehicles of vehicle location position are active vehicle or front is
It is no to have active vehicle, if front is always active vehicle, maintain series connection traveling relationship；If front vehicles are not matched
Active vehicle or field of front vision in have no active vehicle, then disconnect series connection and traveling relationship and remind active vehicle and passive vehicle
Car owner；
2. detecting following distance, judge whether be less than spacing limit value with front truck spacing, spacing limit value is true according to vehicle speed
It is fixed, if be always held in spacing limit value with front truck spacing, maintain series connection traveling relationship；If the vehicle with front truck spacing
Away from more than spacing limit value, then self-actuating brake is slowed down, and in the speed limit value of corresponding speed, and is reminded until with front truck spacing
The car owner of active vehicle and passive vehicle；
3. detection speed whether exceed the speed limit, when vehicle speed be less than current road segment speed limit, then maintain series connection traveling relationship；If vehicle
Speed is more than current road segment speed limit, then self-actuating brake is slowed down, and so that speed is maintained within current road segment speed limit, and remind active vehicle
And passive vehicle car owner；
4. whether detection front has larger object or dynamic object, series connection traveling relationship is not maintained then；When radar senses just
Front certain distance has the object for reaching and influencing vehicle drive size（For example object height is more than vehicle chassis height）, transmission refers to
Enabling to brake system makes vehicle stop, and sends alarm, when radar induction detection device detects that left front and/or right front have
Dynamic object, sending a command to brake system according to distance makes Slow Down or stopping, such as judges that dynamic object is small apart from vehicle
It is more than 3 meters in 5 meters, is decelerated to 10Km/h, judges that inanimate object is less than 3 meters apart from vehicle, stop until inanimate object is from vehicle
Distance be expanded to 3 meters, and remind the car owner of active vehicle and passive vehicle.
(4) spacing caused by stopping due to brake reduction of speed or brake between fleet between certain two vehicles elongates,
For active vehicle, keeps up with the vehicle that rear brake reduction of speed or brake stop by way of automatic reduction of speed, brake is dropped
The passive vehicle that speed or brake stop moves closer to front active vehicle, if it is in fleet by way of automatically speeding up
Between partly because brake reduction of speed or brake stop and distance is pulled open, then to forefront vehicle the front truck pulled open since distance,
Reduction of speed keeps the spacing between vehicle for 1 ~ 1.5 times of dynamic best safety spacing, to the end the rear car pulled open since distance
Square vehicle, raises speed, and it is 1 ~ 1.5 times of dynamic best safety spacing to keep the spacing between vehicle, is pulled open until distance
When spacing between the front truck that rear car and distance are pulled open is the dynamic best safety spacing of rear car, the spacing between ensuring vehicle
To incrementally increase the speed of front fleet on the basis of 1 ~ 1.5 dynamic best safety spacing and reducing the speed of rear fleet, directly
Speed to entire fleet is unified.
(5) when the series connection traveling relationship between certain two vehicles between fleet disconnects, the passive vehicle of disconnection sends out police
Report, into autonomous driving pattern, car owner can accelerate to find front fleet, when the active vehicle of disconnection reenters in the visual field,
It is automatically connected to form series connection traveling relationship.
The foregoing is merely a kind of embodiments of the present invention, are not used for limiting the scope of the invention；The present invention's
Protection domain is limited by the claim in claims, and every according to equivalence changes made by invention and modification, is all existed
Within the protection domain of patent of the present invention.
Claims (10)
- The driving system 1. a kind of same road segment vehicle is connected, including active vehicle, passive vehicle, vehicle match module, feature It is：The active vehicle includes the first dynamical system, first brake system, first information transmission module；The passive vehicle includes the second dynamical system, the second brake system, the second information transmission modular；The first information transmission module connects the first dynamical system, first brake system, the second information transmission modular, and described the The brake information of the drive speed information of first dynamical system and first brake system is transferred to by one information transmission modular Second information transmission modular；Second information transmission modular connects the second dynamical system, the second brake system；Second dynamical system includes constant-speed-cruise control module, and the constant-speed-cruise control module is according to the first dynamical system Drive speed information the second dynamical system of adjust automatically speed；Second brake system is braked according to the brake synchronizing information of first brake system；The vehicle match module makes active vehicle form traveling relationship of connecting, first information transmission module with passive vehicle match It connect to form information transmission relationship with the second information transmission modular.
- The driving system 2. same road segment vehicle according to claim 1 is connected, it is characterised in that：The active vehicle includes The first navigation system being connect with first information transmission module, the passive vehicle include being connect with the second information transmission modular Second navigation system, the vehicle match module is according to the navigation routine of the first navigation system and the navigation road of the second navigation system Lines matching vehicle and series connection section.
- The driving system 3. same road segment vehicle according to claim 2 is connected, it is characterised in that：The active vehicle includes The first communication system being connect with first information transmission module, the passive vehicle include being connect with the second information transmission modular Second communication system, first communication system and the second communication system are transmitted by first information transmission module and the second information Module directly forms sound picture synchronization by signal transmission.
- The driving system 4. same road segment vehicle according to claim 1 is connected, it is characterised in that：The passive vehicle includes Following distance control system, the following distance control system connect second brake system, following distance control system System includes front truck spacing detection module, and current vehicle spacing detection module is detected is less than spacing limit value with front truck spacing distance When, so that the brake of the second brake system is reduced and drives speed.
- The driving system 5. same road segment vehicle according to claim 4 is connected, it is characterised in that：The spacing limit value root It is set according to speed is driven.
- The driving system 6. same road segment vehicle according to claim 1 is connected, it is characterised in that：The passive vehicle includes Vehicle verifies system, and the vehicle verification system is equipped with Car license recognition module, when the vehicle verifies system identification front vehicles It is not the matched active vehicle of institute or the matched active vehicle of institute can not be found in the visual field, the vehicle verification system transmission refers to Vehicle match module is enabled, passive vehicle is made to disconnect traveling relationship of connecting with active vehicle.
- The driving system 7. same road segment vehicle according to claim 1 is connected, it is characterised in that：The first information transmission Module, the second information transmission modular, vehicle match module pass through one or more in blueteeth network, ZigBee, Wi-Fi, UWB Realize the transmission of short distance information.
- The driving system 8. same road segment vehicle according to claim 1 is connected, it is characterised in that：Including the shared system of power supply System, the power supply shared system includes being arranged in the power supply conveying device of the active vehicle tailstock, in the power supply of passive vehicle headstock Reception device, the power supply conveying device and power source receiving apparatus can form charge transport relationship.
- The driving system 9. same road segment vehicle according to claim 8 is connected, it is characterised in that：The power source receiving apparatus For automatic charging arm, the power supply conveying device is the socket being adapted to the automatic charging arm.
- The driving system 10. same road segment vehicle according to claim 8 is connected, it is characterised in that：The power supply conveying dress It is set to wireless charging expelling plate, the power source receiving apparatus is wireless charging receiver board, and the power supply conveying device and power supply connect Receiving apparatus can form wireless charging relationship.
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Application publication date: 20181019 |