CN109334668A - A kind of automatic doubling system based on V2X - Google Patents
A kind of automatic doubling system based on V2X Download PDFInfo
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- CN109334668A CN109334668A CN201811448867.8A CN201811448867A CN109334668A CN 109334668 A CN109334668 A CN 109334668A CN 201811448867 A CN201811448867 A CN 201811448867A CN 109334668 A CN109334668 A CN 109334668A
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- 238000004891 communication Methods 0.000 claims abstract description 44
- 238000011217 control strategy Methods 0.000 claims abstract description 42
- 230000008859 change Effects 0.000 claims description 18
- 230000000875 corresponding effect Effects 0.000 claims description 9
- 230000001133 acceleration Effects 0.000 claims description 7
- 230000002596 correlated effect Effects 0.000 claims description 7
- 230000001276 controlling effect Effects 0.000 claims description 5
- 241000736199 Paeonia Species 0.000 claims description 2
- 235000006484 Paeonia officinalis Nutrition 0.000 claims description 2
- 238000000034 method Methods 0.000 description 7
- 230000004048 modification Effects 0.000 description 5
- 238000012986 modification Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000003247 decreasing effect Effects 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000013500 data storage Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 210000000352 storage cell Anatomy 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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Classifications
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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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
-
- 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
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- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The automatic doubling system based on V2X that the present invention provides a kind of belongs to automatic Pilot technical field, and doubling trigger module sends doubling trigger signal when receiving and line, to locating module, V2X short range communication module and tactful determining module；Locating module determines the danger zone position range of this vehicle side when receiving doubling trigger signal, and danger zone position range is sent to tactful determining module；This vehicle speed that tactful determining module receiving sensor collects, and this vehicle speed, danger zone position range, the position of other vehicles, speed, gas pedal state and the brake pedal state obtained according to V2X short range communication module, it determines control strategy and is sent to control execution module；Execution module is controlled when receiving control strategy, this vehicle is controlled accordingly according to control strategy.To a variety of information of vehicles of the surrounding vehicles obtained when needing doubling using V2X short range communication module, safely and efficiently automatic doubling is realized.
Description
Technical field
The present invention relates to automatic Pilot technical field, in particular to a kind of automatic doubling system based on V2X.
Background technique
Technical field relevant to autonomous driving vehicle is being increasingly becoming research hotspot in recent years.From the angle of strategic importance
From the point of view of degree, autonomous driving vehicle can be effectively improved traffic safety, realize energy-saving and emission-reduction, eliminate traffic congestion, promotion industry turn
Type.Therefore, autonomous driving vehicle technology receives the unprecedented attention of national governments, and domestic and international each universities and colleges, research institution are all
A large amount of human and material resources, each cart enterprise, scientific & technical corporation, automobile component part supply have been put into autonomous driving vehicle technical field
Quotient and autonomous driving vehicle venture company are also laid out in this field one after another.
The automatic doubling system of existing automatic driving vehicle can accomplish to control the automatic doubling of vehicle, be mainly foundation
In this vehicle that multiple radar sensors of vehicle body surrounding installation detect at a distance from surrounding vehicles, thus judging that distance is full
Vehicle is controlled when sufficient doubling condition carries out automatic doubling operation.
In implementing the present disclosure, inventor find the relevant technologies the prior art has at least the following problems:
The automatic doubling system of existing automatic driving vehicle be merely capable of using radar detection surrounding vehicles and this vehicle it
Between distance relation, can not obtain a variety of information of vehicles of surrounding vehicles, and according to a variety of information of vehicles of surrounding vehicles come
Different doubling strategies is taken, to accomplish safely and efficiently automatic doubling.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of automatic doubling system based on V2X, safety and high can be realized
Effect ground carries out automatic doubling.
Specifically, including technical solution below:
The embodiment of the present disclosure provides a kind of automatic doubling system based on V2X, which includes doubling trigger module, determines
Position module, V2X short range communication module, tactful determining module and control execution module, in which:
Doubling trigger module is used for when receiving and line, really to locating module, short range communication module and strategy
Cover half block sends doubling trigger signal.
Locating module is used for when receiving doubling trigger signal, determines the danger zone position range of this vehicle side, and
Danger zone position range is sent to tactful determining module.
V2X short range communication module is used for when receiving doubling trigger signal, receives the communication distance threshold centered on this vehicle
Value is his truck position of other vehicles in the range of radius, his vehicle speed, his vehicle gas pedal state and his vehicle brake pedal
State, and it is sent to tactful determining module.
Tactful determining module is used for when receiving doubling trigger signal, this vehicle speed that receiving sensor collects,
And it is stopped according to this vehicle speed, danger zone position range, his truck position, his vehicle speed, his vehicle gas pedal state and his vehicle
Vehicle pedal state determines that control strategy is one in direct doubling strategy, waiting strategy and speed change doubling strategy, and will control
Strategy is sent to control execution module.
It controls execution module to be used for when receiving control strategy, this vehicle is controlled accordingly according to control strategy.
Selectively, and in line and doubling trigger signal doubling direction is carried, locating module is specifically used for:
When receiving doubling trigger signal, this truck position is determined, this truck position refers to the center position of this vehicle.
Be set to coordinate origin with this parking stall and establish rectangular coordinate system, the y-axis of rectangular co-ordinate be parallel to this vehicle direction of advance and
Positive direction is directed toward this vehicle direction of advance, and x-axis is vertically with this vehicle direction of advance and positive direction is directed toward on the right side of this vehicle.
Acquisition experience vehicle width W, experience vehicle commander L, transverse safety distance threshold value δ1And longitudinal safety distance threshold δ2。
When doubling direction be it is right when, determine danger zone position range be (x, y) | x ∈ (W+ δ1,2W+2δ1,y∈(-L-
δ 2, L+ δ 2).
When doubling direction be it is left when, determine danger zone position range be (x, y) | x ∈ (- 2W-2 δ 1 ,-W- δ 1, y ∈ (-
L- δ 2, L+ δ 2).
Selectively, doubling trigger module is specifically used for:
When receiving carry doubling direction and line, according to carry doubling direction and line, Xiang Ding
Position module, V2X short range communication module and tactful determining module send the doubling trigger signal for carrying doubling direction.
Selectively,
V2X short range communication module is also used to:
When receiving doubling trigger signal, receive centered on this vehicle, communication distance threshold value be radius in the range of its
His vehicle dimension information of his vehicle, and his vehicle dimension information is sent to locating module,
Locating module is also used to:
According to his vehicle dimension information, experience vehicle width W and experience vehicle commander L are modified.
Selectively, tactful determining module is specifically used for:
Judge whether his truck position of other vehicles falls in the position range of danger zone, he refers to other vehicles in truck position
Center position.
When his truck position is not fallen in the position range of danger zone, determine that control strategy is direct doubling strategy.
When his truck position is fallen in the position range of danger zone, the size relation of his vehicle speed and this vehicle speed is judged.
When his vehicle speed is more than or less than this vehicle speed, determine that control strategy is waiting strategy.
When his vehicle speed is equal to this vehicle speed, and when his vehicle gas pedal state instruction his vehicle gas pedal aperture becomes larger,
Determine that control strategy is waiting strategy.
When his vehicle speed is equal to this vehicle speed, and his vehicle gas pedal state instruction his vehicle gas pedal aperture becomes smaller or he
When his vehicle brake pedal aperture of vehicle brake pedal state instruction becomes larger, determine that control strategy is waiting strategy.
When his vehicle speed is equal to this vehicle speed, and when his vehicle gas pedal aperture of his vehicle gas pedal state instruction is constant,
Determine that control strategy is speed change doubling strategy.
Selectively, tactful determining module is also used to:
When determining control strategy is speed change doubling strategy, threshold speed of overtaking other vehicles is obtained, and obtain from navigation system
The corresponding Maximum speed limit in section where this truck position.
It is to accelerate doubling by speed change doubling strategy modification when this vehicle speed is less than Maximum speed limit plus threshold speed of overtaking other vehicles
Strategy.
It is deceleration doubling by speed change doubling strategy modification when this vehicle speed is greater than Maximum speed limit plus threshold speed of overtaking other vehicles
Strategy.
Selectively, control execution module is specifically used for:
When receiving direct doubling strategy, according to direct doubling strategy, this vehicle gas pedal aperture is controlled so that this vehicle
Remain a constant speed traveling, while controlling steering wheel and rotating first angle to doubling direction, and controlling after second time threshold
Steering wheel return is just.
When receiving waiting strategy, according to waiting strategy, this vehicle gas pedal aperture is controlled so that this vehicle remains a constant speed
Traveling, and control steering wheel and keep current angular.
Selectively, control execution module is also used to:
When receiving acceleration doubling strategy, according to doubling strategy is accelerated, this vehicle gas pedal aperture is increased, and obtain and determine
Other vehicles that the danger zone position range determined in real time of position module and V2X short range communication module real-time reception arrive he
Truck position controls steering wheel to doubling direction after his truck position leaves danger zone range and have passed through first time threshold
First angle is rotated, after second time threshold, control steering wheel return is just.
When receiving deceleration doubling strategy, according to deceleration doubling strategy, this vehicle gas pedal aperture is adjusted to zero, is added
University degree vehicle brake pedal aperture, and obtain danger zone position range and V2X short range communication that locating module is determined in real time
His truck position of other vehicles that module real-time reception arrives, when danger zone range is left in his truck position and have passed through at the first time
After threshold value, steering wheel being controlled to doubling direction and rotates first angle, after second time threshold, control steering wheel return is just.
Selectively, control execution module is also used to:
Accelerate doubling strategy or when deceleration doubling strategy receiving, this speed that receiving sensor collects in real time
Degree.
This vehicle speed is substituted into pre-stored vehicle speed and first angle, first time threshold and the second time threshold
In the corresponding relationship of value, first angle, first time threshold and second time threshold are obtained, wherein first angle and this speed
Degree is negatively correlated, and first time threshold and second time threshold are positively correlated with this vehicle speed.
Selectively, control execution module is also used to:
Control steering wheel return just after, this vehicle speed that receiving sensor collects in real time.
When this vehicle speed is less than Maximum speed limit, this vehicle gas pedal aperture is increased, is equal to most when this vehicle speed increases to
When high speed limit, the traveling that controls this vehicle accelerator open degree so that this vehicle remains a constant speed.
When this vehicle speed is greater than Maximum speed limit, reduce this vehicle gas pedal aperture, when this vehicle speed is decreased to be equal to most
When high speed limit, the traveling that controls this vehicle accelerator open degree so that this vehicle remains a constant speed.
When this vehicle speed is equal to Maximum speed limit, the traveling that controls this vehicle accelerator open degree so that this vehicle remains a constant speed.
The technical solution that the embodiment of the present disclosure provides is include at least the following beneficial effects:
A kind of automatic doubling system based on V2X provided by the invention, including doubling trigger module, locating module, V2X are short
Journey communication module, tactful determining module and control execution module, in which: doubling trigger module is used to receive simultaneously line
When, doubling trigger signal is sent to locating module, V2X short range communication module and tactful determining module；Locating module is used for
When receiving doubling trigger signal, the danger zone position range of this vehicle side is determined, and danger zone position range is sent
To tactful determining module；V2X short range communication module is used for when receiving doubling trigger signal, is received centered on this vehicle, is led to
Communication distance threshold value is his truck position of other vehicles in the range of radius, his vehicle speed, his vehicle gas pedal state and his vehicle
Brake pedal state, and it is sent to tactful determining module；Tactful determining module is used for when receiving doubling trigger signal, is received
This vehicle speed that sensor collects, and according to this vehicle speed, danger zone position range, his truck position, his vehicle speed, he
Vehicle gas pedal state and his vehicle brake pedal state determine that control strategy is direct doubling strategy, waiting strategy and speed change
One in doubling strategy, and control strategy is sent to control execution module；Control execution module is used to receive control
When tactful, this vehicle is controlled accordingly according to control strategy.Since V2X technology to be dissolved into traditional automatic doubling system
In, so that a variety of information of vehicles of surrounding vehicles are obtained using V2X short range communication module when this vehicle needs doubling, and according to week
A variety of information of vehicles of vehicle are enclosed to take different doubling strategies, to realize safely and efficiently automatic doubling.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the block diagram for the automatic doubling system based on V2X that the embodiment of the present invention one provides；
Fig. 2 is the danger zone position range schematic diagram of this vehicle side in the embodiment of the present invention one；
Fig. 3 is the protocol procedures of realization used in the automatic doubling system based on V2X that provides in the embodiment of the present invention one
Figure.
Specific embodiment
To keep technical solution of the present invention and advantage clearer, below in conjunction with attached drawing to embodiment of the present invention make into
One step it is described in detail.
Embodiment one
A kind of automatic doubling system based on V2X is present embodiments provided, as shown in Figure 1, the system includes doubling triggering
Module 101, locating module 102, V2X short range communication module 103, tactful determining module 104 and control execution module 105, under
Each module will be specifically introduced in face.
Doubling trigger module is used for when receiving and line, to locating module 102, short range communication module and strategy
Determining module 104 sends doubling trigger signal.
And doubling direction is carried in line and doubling trigger signal, there are two kinds of directions of left or right in doubling direction.
Specifically, and the triggering mode of line can have following two:
The first: remote server or onboard navigation system are advised according to this real-time truck position and the global of automatic Pilot
It draws route and local programme path is judged, when judging that this vehicle needs to carry out doubling, generate first and line is sent
To doubling trigger module 101.
Second: entire car controller when recognizing turn signal driving lever and being struck, generate second and line and send to
Doubling trigger module 101.
Although such as turn signal is dialled it is understood that the vehicle for being assembled with this system can be realized automatic Pilot
The control devices such as bar can still be retained in vehicle, so that personnel wish manually to face the traveling lane of vehicle in the car
When Shi Biangeng, vehicle can be made preferentially to carry out doubling according to the wish of occupant.Can for first and line and second simultaneously
Different priority is arranged in line, and priority relationship can be higher than first and line for the priority of second and line,
When the doubling direction that carries and doubling direction difference in first and line in second and line, preferentially by the second doubling
The doubling direction carried in instruction is determined as final doubling direction.
In the present embodiment, doubling trigger module 101 is specifically used for:
When receiving carry doubling direction and line, according to carry doubling direction and line, Xiang Ding
Position module 102, V2X short range communication module 103 and tactful determining module 104 send the doubling triggering letter for carrying doubling direction
Number.
Locating module 102 is used for when receiving doubling trigger signal, determines the danger zone position range of this vehicle side,
And danger zone position range is sent to tactful determining module 104.
Locating module 102 is specifically used for:
When receiving doubling trigger signal, this truck position is determined, this truck position refers to the center position of this vehicle.
Specifically, it is determined that the mode of this truck position can be with are as follows: determining by Global Navigation Satellite System, pass through track reckoning
At least one of determine and determined by environmental characteristic matching.
As shown in Fig. 2, being set to coordinate origin with this parking stall establishes rectangular coordinate system, the y-axis of rectangular co-ordinate is parallel to this vehicle
Direction of advance and positive direction are directed toward this vehicle direction of advance, and x-axis is vertically with this vehicle direction of advance and positive direction is directed toward on the right side of this vehicle.
Acquisition experience vehicle width W, experience vehicle commander L, transverse safety distance threshold value δ1And longitudinal safety distance threshold δ2。
Specifically, experience vehicle width W, experience vehicle commander L, transverse safety distance threshold value δ1And longitudinal safety distance threshold δ2It can
In data storage cell to preset and be stored in vehicle, so that locating module 102 is obtained at any time.
It is shown in Fig. 2 be that experience vehicle width W is equal to this vehicle vehicle width, experience vehicle commander L is equal to this vehicle vehicle commander, and other vehicles
The special circumstances all the same with the length and width of this vehicle.
Experience vehicle width W refers to that the mean breadth of normal domestic use vehicle, experience vehicle commander L refer to the average length of normal domestic use vehicle
Degree, transverse safety distance threshold value δ1Refer to safe distance lateral between two vehicles, longitudinal safety distance threshold δ2After referring to two Chinese herbaceous peonies
Between safe distance.
When doubling direction be it is right when, determine danger zone position range be (x, y) | x ∈ (W+ δ1,2W+2δ1,y∈(-L-
δ 2, L+ δ 2).
When doubling direction be it is left when, determine danger zone position range be (x, y) | x ∈ (- 2W-2 δ 1 ,-W- δ 1, y ∈ (-
L- δ 2, L+ δ 2).
Danger zone position range is indicated in Fig. 2 with dash area.The danger zone range refers to can be to the peace of this vehicle
The region that full doubling impacts, if there are other vehicles in danger zone, this vehicle can not complete safely doubling.
In the position range of danger zone, the minimum range between the side and the side Ben Che of other vehicles is greater than laterally peace
Full distance threshold value δ1.The Vehicular side body of this vehicle is also equipped with multiple radar sensors, the transverse direction between other vehicles and Ben Che
Distance is less than transverse safety distance threshold value δ1When, the radar sensor of Vehicular side body will detect barrier, and preferentially determine
There is risk of collision in this vehicle, can not carry out doubling at this time, and radar sensor generates anti-collision warning signal and is sent to positioning at this time
Module 102,102 Receiving collision pre-warning signal of locating module are simultaneously transmitted to tactful determining module 104, and tactful determining module 104 exists
When receiving anti-collision warning signal, determine that control strategy is hedging strategy.
In the position range of danger zone, the maximum relative distance between the side and the side Ben Che of other vehicles is 2W+2
δ1, performance is exactly that two wheels of other vehicles close to this vehicle side are pressed in the lane entered desired by this vehicle in a practical situation
Kerb lane line on or other vehicles across the lane entered desired by this vehicle kerb lane line travel, at this time and
It can not carry out doubling safely to be incorporated to side lane.
V2X short range communication module 103 be used for when receiving doubling trigger signal, receive centered on this vehicle, communication away from
It is his truck position of other vehicles in the range of radius, his vehicle speed, his vehicle gas pedal state and his vehicle brake from threshold value
Pedal state, and it is sent to tactful determining module 104.
Specifically, V2X refers to Vehicle to everything, i.e. vehicle and extraneous information exchange, therefore V2X short distance
Communication module 103 can receive a plurality of types of from a plurality of types of servers of the vehicle of other on road surface or distal end
Information.Communication distance threshold value refers to the maximum magnitude radius that V2X short range communication module 103 can receive, with communication distance threshold
Value is that other vehicles outside the range of radius are just defaulted as the danger not collided with this vehicle.
His truck position of other vehicles can use it is determining by Global Navigation Satellite System, calculated by track determination with
And at least one mode in determining is matched by environmental characteristic and is determined.His vehicle speed, his vehicle gas pedal state and
His vehicle brake pedal state can use the sensor installed on the vehicle and detect.
As a kind of alternative embodiment, V2X short range communication module 103 is also used to:
When receiving doubling trigger signal, receive centered on this vehicle, communication distance threshold value be radius in the range of its
His vehicle dimension information of his vehicle, and his vehicle dimension information is sent to locating module 102.
Locating module 102 is also used to:
According to his vehicle dimension information, experience vehicle width W and experience vehicle commander L are modified.
It is understood that since various types of vehicle dimensions are different, truck, bus and road rapid repair
Cleaning the vehicles such as vehicle can be bigger than general car size, therefore when needing to carry out automatic doubling, can also obtain it
His vehicle dimension information of his vehicle, and experience vehicle width W and experience vehicle commander L are modified, so that this vehicle can be each in reply
It can safely doubling when the different types of vehicle of kind.It is this amendment can be it is interim, when this vehicle complete this time automatic doubling
When process, the wide W and experience vehicle commander L that can will validate the car changes back initial default value.
Tactful determining module 104 is used for when receiving doubling trigger signal, this speed that receiving sensor collects
Degree, and according to this vehicle speed, danger zone position range, his truck position, his vehicle speed, his vehicle gas pedal state and his vehicle
Brake pedal state determines that control strategy is one in direct doubling strategy, waiting strategy and speed change doubling strategy, and will control
Strategy processed is sent to control execution module 105.
Selectively, tactful determining module 104 is specifically used for:
Judge whether his truck position of other vehicles falls in the position range of danger zone, he refers to other vehicles in truck position
Center position.
When his truck position is not fallen in the position range of danger zone, determine that control strategy is direct doubling strategy.I.e.
It determines in the position range of danger zone without vehicle at this time, doubling can be directly carried out in the case where ensuring safety.
When his truck position is fallen in the position range of danger zone, the size relation of his vehicle speed and this vehicle speed is judged.
Judge there are other vehicles in the position range of danger zone, needs further to judge the state of vehicle in danger zone at this time.
When his vehicle speed is more than or less than this vehicle speed, i.e., when his vehicle speed is unequal with this vehicle speed, determine control
Strategy is waiting strategy.
It is understood that when his vehicle speed of other vehicles is greater than this vehicle speed, then it is believed that other vehicles
Surmount this vehicle, should be waited at this time, waits other vehicle cut-ins that can carry out doubling after the completion.When his vehicle of other vehicles
It when speed is less than this vehicle speed, then it is believed that other vehicles are surmounted by this vehicle, should be waited at this time, wait this vehicle super
Doubling can be carried out after the completion of vehicle.
When his vehicle speed is equal to this vehicle speed, and when his vehicle gas pedal state instruction his vehicle gas pedal aperture becomes larger,
Determine that control strategy is waiting strategy.
It is understood that his vehicle speed when other vehicles is equal to this vehicle speed, but his vehicle gas pedal aperture becomes larger
When, though there is acceleration to be intended to then it is believed that other vehicles are synchronized with this vehicle at this moment, it is intended to acceleration surmounts this vehicle, answers at this time
This is waited, and waits other vehicle cut-ins that can carry out doubling after the completion.
When his vehicle speed is equal to this vehicle speed, and his vehicle gas pedal state instruction his vehicle gas pedal aperture becomes smaller or he
When his vehicle brake pedal aperture of vehicle brake pedal state instruction becomes larger, determine that control strategy is waiting strategy.
It is understood that his vehicle speed when other vehicles is equal to this vehicle speed, but his vehicle gas pedal aperture becomes smaller
Or his vehicle brake pedal aperture though then having deceleration intention it is believed that other vehicles are synchronized with this vehicle at this moment, is tried when becoming larger
Figure slows down and passes through this vehicle preferentially, should be waited at this time, doubling can be carried out after the completion of waiting this vehicle to overtake other vehicles.
In summary, when his vehicle speed of other vehicles is equal to this vehicle speed, but his vehicle gas pedal aperture or his vehicle are stopped
When vehicle pedal opening is varied, it is determined that control strategy is waiting strategy.
When his vehicle speed is equal to this vehicle speed, and when his vehicle gas pedal aperture of his vehicle gas pedal state instruction is constant,
Determine that control strategy is speed change doubling strategy.
It is understood that his vehicle speed when other vehicles is equal to this vehicle speed, and his vehicle gas pedal aperture is constant
When, then it is believed that other car speeds are more stable, and can and this vehicle kept for synchronized a period of time, at this time in order to go on smoothly simultaneously
Line can control this vehicle and carry out appropriate speed change, to pull open the distance with other vehicles in the position range of danger zone.
In the present embodiment kind, tactful determining module 104 is also used to:
When determining control strategy is speed change doubling strategy, threshold speed of overtaking other vehicles is obtained, and obtain from navigation system
The corresponding Maximum speed limit in section where this truck position.
The threshold speed of overtaking other vehicles can determine according to this vehicle speed, be previously stored in the data storage cell of this vehicle and
Corresponding relationship between this vehicle speed and threshold speed of overtaking other vehicles, and this vehicle speed and threshold speed of overtaking other vehicles are positively correlated, so as to
Doubling is carried out with faster speed when this vehicle speed is higher, shortens entire and line process time, pulls open Ben Che and danger zone
The relative velocity between other vehicles in position range avoids the normally travel for influencing other vehicles, improves travel safety,
Reduce the probability that accident occurs.
It is to accelerate doubling by speed change doubling strategy modification when this vehicle speed is less than Maximum speed limit plus threshold speed of overtaking other vehicles
Strategy.
It is deceleration doubling by speed change doubling strategy modification when this vehicle speed is greater than Maximum speed limit plus threshold speed of overtaking other vehicles
Strategy.
It is understood that illustrating this speed at this time when this vehicle speed is less than Maximum speed limit plus threshold speed of overtaking other vehicles
The space that can also increase in road safety speed limit is spent, can carry out accelerating doubling of overtaking other vehicles；When this vehicle speed is plus speed of overtaking other vehicles
When spending threshold value greater than Maximum speed limit, illustrate that this vehicle speed is relatively high at this time, this vehicle speed has not had in road safety speed limit
The space that can increase also will increase accident potential, answer at this time if carrying out that doubling of overtaking other vehicles is accelerated to might have hypervelocity risk by force
This carries out deceleration doubling, to accomplish to be safely completed doubling.
It controls execution module 105 to be used for when receiving control strategy, this vehicle is controlled accordingly according to control strategy
System.
In the present embodiment, control execution module 105 is specifically used for:
When receiving direct doubling strategy, according to direct doubling strategy, this vehicle gas pedal aperture is controlled so that this vehicle
Remain a constant speed traveling, while controlling steering wheel and rotating first angle to doubling direction, and controlling after second time threshold
Steering wheel return just so that this vehicle complete at the uniform velocity doubling.
When receiving waiting strategy, according to waiting strategy, this vehicle gas pedal aperture is controlled so that this vehicle remains a constant speed
Traveling, and control steering wheel and keep current angular, the traveling so that this vehicle remains a constant speed in former lane continues waiting for suitably simultaneously
Line opportunity.
In the present embodiment, control execution module 105 is also used to:
When receiving acceleration doubling strategy, according to doubling strategy is accelerated, this vehicle gas pedal aperture is increased, and obtain and determine
Other vehicles that the danger zone position range and 103 real-time reception of V2X short range communication module that position module 102 is determined in real time arrive
His truck position control steering wheel to simultaneously after his truck position leaves danger zone range and have passed through first time threshold
Line direction rotates first angle, and after second time threshold, control steering wheel return just, safely accelerates to overtake other vehicles simultaneously to realize
Line.
First angle, first time threshold and second time threshold can be adjusted in real time according to this vehicle speed, with reality
Now safe doubling, therefore, in the present embodiment, control execution module 105 is also used to:
Accelerate doubling strategy or when deceleration doubling strategy receiving, this speed that receiving sensor collects in real time
Degree.
This vehicle speed is substituted into pre-stored vehicle speed and first angle, first time threshold and the second time threshold
In the corresponding relationship of value, first angle, first time threshold and second time threshold are obtained.Doubling is carried out under higher speed
When, the steering wheel angle of required rotation is with regard to smaller, so that vehicle safety smoothly completes doubling, therefore first angle and this speed
Degree is negatively correlated.And speed is higher, the risk that accident occurs is higher, it should reserve enough safety times, therefore first
Time threshold and second time threshold are positively correlated with this vehicle speed.
As a kind of alternative embodiment, controls execution module 105 and be also used to obtain the external world that temperature sensor collects
The external rainfall amount that temperature and precipitation rain fall sensor collect, and using V2X short range communication module 103 as transfer, it obtains
The Weather information of the present period stored in remote weather server, when ambient temperature is big less than temperature threshold, external rainfall amount
In rainfall threshold value, Weather information instruction present period weather be rain, Weather information instruction present period weather is to snow
When any one condition meets, first angle is modified, reduces the value of first angle, to avoid lower in road adherence
In the case where as nose wheel angle instantaneous variation it is larger and caused by vehicle slip it is even out of control, and simultaneously by first time threshold
And second time threshold is modified, and increases first time threshold and second time threshold, with lower in road adherence
In the case where reserve enough safety times, guarantee traffic safety, realize safe doubling.
When receiving deceleration doubling strategy, according to deceleration doubling strategy, this vehicle gas pedal aperture is adjusted to zero, is added
University degree vehicle brake pedal aperture, and obtain danger zone position range that locating module 102 is determined in real time and V2X short distance is logical
His truck position of other vehicles for arriving of letter 103 real-time reception of module, when danger zone range is left in his truck position and have passed through the
After one time threshold, steering wheel is controlled to doubling direction and rotates first angle, after second time threshold, control steering wheel
Hui Zheng, to realize doubling of safely slowing down.
As a kind of alternative embodiment, if the vehicle for being assembled with this system is pure electro-motive vehicle, in control execution module
105 when receiving deceleration doubling strategy, it is also an option that being adjusted to this vehicle gas pedal aperture according to deceleration doubling strategy
Zero, and this vehicle power recovery grade is turned up, to save energy consumption under the premise of realizing safe doubling.
As a kind of alternative embodiment, controls execution module 105 and be also used to when receiving hedging strategy, according to hedging plan
Slightly, this vehicle gas pedal aperture is adjusted to zero, and increase this vehicle brake pedal aperture, by make vehicle by deceleration in a manner of hide
Keep away danger.
It in the present embodiment, is suitable for the section to be restored to this vehicle can by this vehicle speed after completing doubling
Speed, control execution module 105 are also used to:
Control steering wheel return just after, this vehicle speed that receiving sensor collects in real time.
When this vehicle speed is less than Maximum speed limit, this vehicle gas pedal aperture is increased, is equal to most when this vehicle speed increases to
When high speed limit, the traveling that controls this vehicle accelerator open degree so that this vehicle remains a constant speed.
When this vehicle speed is greater than Maximum speed limit, reduce this vehicle gas pedal aperture, when this vehicle speed is decreased to be equal to most
When high speed limit, the traveling that controls this vehicle accelerator open degree so that this vehicle remains a constant speed.
When this vehicle speed is equal to Maximum speed limit, the traveling that controls this vehicle accelerator open degree so that this vehicle remains a constant speed.
As a kind of alternative embodiment, if the vehicle for being assembled with this system is pure electro-motive vehicle, when this vehicle speed is greater than
When Maximum speed limit, it is also an option that while reducing this vehicle gas pedal aperture and this vehicle power recovery grade is turned up, when this vehicle
When speed is decreased to be equal to Maximum speed limit, this vehicle power recovery grade is turned down, controls this vehicle accelerator open degree so that this vehicle keeps even
Speed traveling, under the premise that security is guaranteed, save energy consumption.
It is understood that though the automatic doubling system provided in an embodiment of the present invention based on V2X is mainly according to this vehicle
And the relative status of the relative position of his vehicle, Ben Che and his vehicle carries out doubling to control this vehicle, but can also tie simultaneously
Close multiple sensors for installing around vehicle body, during the entire process of doubling, when sensor detect barrier it is excessively close when, in time
Stop simultaneously line process, to guarantee traffic safety.
The protocol procedures of realization used in automatic doubling system provided in an embodiment of the present invention based on V2X are as shown in Figure 3.
The technical solution that the embodiment of the present disclosure provides is include at least the following beneficial effects:
A kind of automatic doubling system based on V2X provided by the invention, including doubling trigger module 101, locating module
102, V2X short range communication module 103, tactful determining module 104 and control execution module 105, in which: doubling trigger module
101 are used for when receiving and line, to locating module 102, V2X short range communication module 103 and tactful determining module 104
Send doubling trigger signal；Locating module 102 is used for when receiving doubling trigger signal, determines the danger zone of this vehicle side
Position range, and danger zone position range is sent to tactful determining module 104；V2X short range communication module 103 is for connecing
It when receiving doubling trigger signal, receives centered on this vehicle, communication distance threshold value is his vehicle of other vehicles in the range of radius
Position, his vehicle speed, his vehicle gas pedal state and his vehicle brake pedal state, and it is sent to tactful determining module 104；Plan
Slightly determining module 104 is used for when receiving doubling trigger signal, this vehicle speed that receiving sensor collects, and according to this
Vehicle speed, danger zone position range, his truck position, his vehicle speed, his vehicle gas pedal state and his vehicle brake pedal shape
State determines that control strategy is one in direct doubling strategy, waiting strategy and speed change doubling strategy, and control strategy is sent
Give control execution module 105；Control execution module 105 be used for when receiving control strategy, according to control strategy to this vehicle into
The corresponding control of row.Since V2X technology to be dissolved into traditional automatic doubling system, thus the utilization when this vehicle needs doubling
V2X short range communication module 103 obtains a variety of information of vehicles abundant of surrounding vehicles, and according to a variety of abundant of surrounding vehicles
Information of vehicles flexibly takes different automatic doubling strategies, not only can guarantee safely automatic doubling, but also can be as quickly as possible
Automatic doubling is completed, is guaranteeing traffic safety, on the basis of reducing a possibility that accident occurs, improves driving efficiency.
Those of ordinary skill in the art will appreciate that realize that the scheme of above-described embodiment can be realized by hardware, it can also
To instruct relevant hardware realization by program, the program be can store in a kind of computer readable storage medium,
Storage medium mentioned above can be read-only memory, disk or CD etc..
In this application, it should be understood that term " first ", " second " etc. are used for description purposes only, and should not be understood as
Indication or suggestion relative importance or the quantity for implicitly indicating indicated technical characteristic.
The above is only for the ease of it will be understood by those skilled in the art that technical solution of the present invention, not to limit this hair
It is bright.All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in the present invention
Protection scope.
Claims (10)
1. a kind of automatic doubling system based on V2X, which is characterized in that including doubling trigger module, locating module, V2X short distance
Communication module, tactful determining module and control execution module, in which:
The doubling trigger module is used to receive and when line, to the locating module, the short range communication module with
And the tactful determining module sends doubling trigger signal；
The locating module is used for when receiving the doubling trigger signal, determines the danger zone position model of this vehicle side
It encloses, and the danger zone position range is sent to the tactful determining module；
The V2X short range communication module be used for when receiving the doubling trigger signal, receive centered on this vehicle, communication away from
It is his truck position of other vehicles in the range of radius, his vehicle speed, his vehicle gas pedal state and his vehicle brake from threshold value
Pedal state, and it is sent to the tactful determining module；
The strategy determining module is used for when receiving the doubling trigger signal, this speed that receiving sensor collects
Degree, and according to described vehicle speed, the danger zone position range, his truck position, his vehicle speed, his vehicle
Gas pedal state and his vehicle brake pedal state determine that control strategy is direct doubling strategy, waiting strategy and change
One in fast doubling strategy, and the control strategy is sent to the control execution module；
The control execution module is used for when receiving the control strategy, is carried out according to the control strategy to this vehicle corresponding
Control.
2. system according to claim 1, which is characterized in that in described and line and the doubling trigger signal
Doubling direction is carried, the locating module is specifically used for:
When receiving the doubling trigger signal, determine that this truck position, this described truck position refer to the center position of this vehicle；
Coordinate origin is set to this described parking stall and establishes rectangular coordinate system, and the y-axis of the rectangular co-ordinate is parallel to this Chinese herbaceous peony into side
To and positive direction be directed toward this vehicle direction of advance, x-axis is vertically with this vehicle direction of advance and positive direction is directed toward on the right side of this vehicle；
Acquisition experience vehicle width W, experience vehicle commander L, transverse safety distance threshold value δ1And longitudinal safety distance threshold δ2；
When the doubling direction be it is right when, determine the danger zone position range be (x, y) | x ∈ W+ δ 1,2W+2 δ 1, y ∈
(- L- δ 2, L+ δ 2)；
When the doubling direction be it is left when, determine the danger zone position range be (x, y) | x ∈ -2W-2 δ 1,-W- δ 1, y
∈ (- L- δ 2, L+ δ 2).
3. system according to claim 2, which is characterized in that the doubling trigger module is specifically used for:
It is carried described in the doubling direction and when line receiving, according to carrying described in the doubling direction simultaneously
Line is sent described in carrying simultaneously to the locating module, the V2X short range communication module and the tactful determining module
The doubling trigger signal in line direction.
4. system according to claim 2, which is characterized in that
The V2X short range communication module is also used to:
When receiving the doubling trigger signal, receive centered on this vehicle, communication distance threshold value be radius in the range of its
His vehicle dimension information of his vehicle, and his the vehicle dimension information is sent to the locating module,
The locating module is also used to:
According to his vehicle dimension information, the experience vehicle width W and the experience vehicle commander L are modified.
5. system according to claim 2, which is characterized in that the strategy determining module is specifically used for:
Judge whether his truck position of other vehicles falls in the danger zone position range, his truck position refers to it
The center position of his vehicle；
When his truck position is not fallen in the danger zone position range, determine that the control strategy is direct doubling
Strategy；
When his truck position is fallen in the danger zone position range, judgement his vehicle speed and described vehicle speed
Size relation；
When his vehicle speed is more than or less than described vehicle speed, determine that control strategy is waiting strategy；
When his vehicle speed is equal to described vehicle speed, and his vehicle gas pedal state instruction his vehicle gas pedal aperture
When becoming larger, determine that control strategy is waiting strategy；
When his vehicle speed is equal to described vehicle speed, and his vehicle gas pedal state instruction his vehicle gas pedal aperture
Become smaller or when his the vehicle brake pedal aperture of his vehicle brake pedal state instruction becomes larger, determines that control strategy is waiting strategy；
When his vehicle speed is equal to described vehicle speed, and his vehicle gas pedal state instruction his vehicle gas pedal aperture
When constant, determine that control strategy is speed change doubling strategy.
6. system according to claim 5, which is characterized in that the strategy determining module is also used to:
When determining the control strategy is speed change doubling strategy, threshold speed of overtaking other vehicles is obtained, and obtain from navigation system
The corresponding Maximum speed limit in section where this described truck position；
When described vehicle speed is less than the Maximum speed limit plus the threshold speed of overtaking other vehicles, the speed change doubling strategy is repaired
It is changed to accelerate doubling strategy；
When described vehicle speed is greater than the Maximum speed limit plus the threshold speed of overtaking other vehicles, the speed change doubling strategy is repaired
It is changed to deceleration doubling strategy.
7. system according to claim 5, which is characterized in that the control execution module is specifically used for:
When receiving the direct doubling strategy, according to the direct doubling strategy, control this vehicle gas pedal aperture so that
This vehicle remains a constant speed traveling, while controlling steering wheel and rotating first angle to the doubling direction, and passing through the second time threshold
Steering wheel return is being controlled just after value；
When receiving the waiting strategy, according to the waiting strategy, this vehicle gas pedal aperture is controlled so that this vehicle is kept
It drives at a constant speed, and controls steering wheel and keep current angular.
8. system according to claim 6, which is characterized in that the control execution module is also used to:
When receiving the acceleration doubling strategy, according to the acceleration doubling strategy, this vehicle gas pedal aperture is increased, and obtain
Take the danger zone position range and the V2X short range communication module real-time reception that the locating module is determined in real time
His truck position of other vehicles arrived, when the danger zone range is left in his truck position and have passed through at the first time
After threshold value, steering wheel is controlled to the doubling direction and rotates first angle, after second time threshold, control steering wheel return
Just；
When receiving the deceleration doubling strategy, according to the deceleration doubling strategy, this vehicle gas pedal aperture is adjusted to
Zero, increase this vehicle brake pedal aperture, and obtain the danger zone position range that the locating module is determined in real time with
And his truck position of other vehicles for arriving of the V2X short range communication module real-time reception, when institute is left in his truck position
After stating danger zone range and have passed through the first time threshold, steering wheel is controlled to the doubling direction and rotates first jiao
Degree, after the second time threshold, control steering wheel return is just.
9. system according to claim 7 or 8, which is characterized in that the control execution module is also used to:
When receiving the acceleration doubling strategy or the deceleration doubling strategy, this vehicle that receiving sensor collects in real time
Speed；
Described vehicle speed is substituted into pre-stored vehicle speed and first angle, first time threshold and the second time threshold
In the corresponding relationship of value, the first angle, the first time threshold and the second time threshold are obtained, wherein described
First angle is negatively correlated with described vehicle speed, the first time threshold and the second time threshold and described speed
Degree is positively correlated.
10. system according to claim 7, which is characterized in that the control execution module is also used to:
Control steering wheel return just after, this vehicle speed that receiving sensor collects in real time；
When described vehicle speed is less than the Maximum speed limit, this vehicle gas pedal aperture is increased, when described vehicle speed increases
To equal than when the Maximum speed limit, the traveling that controls this vehicle accelerator open degree so that this vehicle remains a constant speed；
When described vehicle speed is greater than the Maximum speed limit, reduce this vehicle gas pedal aperture, when described vehicle speed reduces
To equal than when the Maximum speed limit, the traveling that controls this vehicle accelerator open degree so that this vehicle remains a constant speed；
When described vehicle speed is equal to the Maximum speed limit, the traveling that controls this vehicle accelerator open degree so that this vehicle remains a constant speed.
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