CN109383522A - 虚拟牵引系统 - Google Patents
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
- B60W2050/0292—Fail-safe or redundant systems, e.g. limp-home or backup systems
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- 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
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- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
Abstract
本发明是一种用于自动化车辆的虚拟牵引系统(10),包括:配备有第一收发器(20)的损坏车辆(12),当损坏车辆(12)的感知传感器(14)故障时,第一收发器(20)广播牵引请求(22)。所述系统(10)还包括:配备有第二收发器(24)的牵引车辆(16),第二收发器(24)响应于牵引请求(22)向第一收发器(20)发送引导数据(26),由此,损坏车辆(12)根据引导数据(26)进行操作。
Description
技术领域
本公开总地涉及一种虚拟牵引系统,并且更具体而言涉及一种牵引车辆,辅助损坏车辆到达诸如修理厂或安全地点之类的目的地,以停靠损坏车辆,直到损坏车辆能够被修复,或者在更多的情况下直到损坏车辆能够被转运。
背景技术
当自动化车辆由于传感器故障变得损坏时,它可能仅能停在其当前位置或路边。因为自动化车辆及/或其它车辆的占道,这可能会引起交通拥堵及/或安全性问题。
发明内容
本发明描述了一种车辆牵引系统,该车辆牵引系统使用专用协作牵引车辆的感知传感器及处理能力,来将损坏车辆操作至指定位置。该牵引车辆可以是专用牵引车辆或任何具有必要能力的协作车辆。该牵引车辆利用其感知传感器及路径规划来向牵引车辆例如输出制动、转向及加速命令。
根据一个实施例,提供了一种自动化车辆的虚拟牵引系统。所述系统包括配备有第一收发器的损坏车辆,当损坏车辆的感知传感器故障时,第一收发器广播牵引请求。所述系统还包括:配备有第二收发器的牵引车辆,第二收发器响应于牵引请求向第一收发器发送引导数据,由此,损坏车辆根据引导数据进行操作。
阅读优选实施例的下列详细描述并参考各个附图,进一步的特征和优点将更加显而易见,优选实施例仅作为非限制性示例给出的。
附图说明
现在参考各个附图通过示例的方式将描述本发明,其中:
图1是根据一个实施例的虚拟牵引系统的示图;以及
图2是根据一个实施例的图1的系统所遇到的场景。
具体实施方式
图1示出了虚拟牵引系统10(下文称为系统10)的非限制性示例。所述系统10通常旨在牵引自动化车辆,例如损坏车辆12,其由于某种原因不能检测或确定关于周边环境的足够细节,而这些关于周边环境的足够细节是使得所述损坏车辆12按照其预期设计或配置进行操作所必需的。如本文所使用的,术语“损坏车辆”可适用于下述情况下的自动化车辆:损坏车辆12有一个或多个所述感知传感器14的实例(例如:摄像头、雷达、激光雷达、超声换能器等)发生故障或因为其他原因不能检测出所述损坏车辆12附近的道路及/或物体。作为示例而非限制,在损坏车辆12上的摄像头可能发生故障或被路面碎片所损坏,由此损坏车辆12可被表征为致盲或部分致盲。
如本文所使用的,术语自动化车辆可适用于当所述损坏车辆12以自动模式(即,完全自主模式)操作时的实例,其中除指定目的地以外,损坏车辆12的操作人员(未示出)几乎不用做任何事情来操作该损坏车辆12。然而,完全自动化不是必需的。可以设想,本文所呈现的教示当损坏车辆12在以手动模式操作时是有用的,在该手动模式下,自动化的程度或等级可能仅是向总体上控制所述损坏车辆12的转向器、加速器及制动器的操作人员提供可听或可视警告。例如,所述系统10可能仅在需要时辅助操作人员进行变道及/或避免干扰和/或碰撞例如其它车辆、行人、路标之类物体。
如下文中更详细描述的,本文中所描述的系统10由牵引车辆16提供“虚拟牵引”。要强调的是,在许多方面虚拟牵引并不相当于用传统牵引车的物理牵引。如本文所使用的,虚拟牵引意味着在牵引车辆16和损坏车辆12之间没有任何物理接触情况下牵引车辆16帮助带领或引导损坏车辆12。即,牵引车辆16不会物理牵引损坏车辆12,但是和损坏车辆12间进行足够的信息通信,使得所述损坏车辆可以操作损坏车辆12的车辆控制器18(例如:转向器、制动器、加速器)以便到达某目的地而不依赖于从所述感知传感器14的实例获取故障信息。
为了获得信息,损坏车辆12配置有收发器(下文中称为第一收发器20),当感知传感器14的足够多的实例被确定发生故障以至损坏车辆12不再能够(例如:在完全自主操作或自动模式下)如预期那样工作时,该收发器广播牵引请求22。例如,若损坏车辆12不具有冗余摄像头,并且损坏车辆上仅有的前视摄像头有故障时,则损坏车辆12可能不能够收集足够多的信息以便安全的自行操作。如自动化车辆领域技术人员将认识到的,第一收发器20可以是射频(RF)收发器,诸如专用短程通信(DSRC)型收发器之类的能够进行车对车(V2V)通信的收发器。
然后,所述牵引车辆16也配置有收发器(下文称为第二收发器24),其接收或检测牵引请求22并且之后被用于响应于牵引请求22将引导数据26传输至第一收发器20中。可以构想,牵引车辆16无需是专门设计用于牵引的专用车辆。即,牵引车辆16可以就是和损坏车辆12完全相同的构造,除了损坏车辆12具有一个或多个感知传感器14的实例发生了故障以外。可构想,引导数据26的合适的形式可以包含或传递信息的不同形式。各种形式中的每一种都将适用于根据引导数据26来操作(例如:转向、加速、制动)损坏车辆12到达诸如修理厂或安全地点之类的某目的地,以停靠损坏车辆12,直到损坏车辆12能够被修复,或者通常的牵引车能够运输该损坏车辆12。
图2示出了当损坏车辆12被牵引车辆16虚拟牵引的同时沿着道路行驶的场景28的非限制性示例。可构想的是,牵引车辆16无需像物理牵引所述损坏车辆12的情形那样紧邻在损坏车辆12的前方。还可构想到,损坏车辆12可以接收来自多个牵引车辆16的实例的引导数据26。还可构想到,其它接近损坏车辆12的车辆中,主要负责虚拟牵引损坏车辆12的车辆也可能改变,因为,例如当前被指定作为所述牵引车辆16的其它车辆的实例可能具有不同于在牵引请求22中通信获知的、通信损坏车辆12的目的地30(如图1)的目的地。即,在所述牵引请求22最初被广播时图2中被标记为牵引车辆的其它车辆实例虽然可能是最好的选择,但随着时间经过,其它车辆的第二实例也可能承担作为损坏车辆12的牵引车辆16的责任,因为第二实例的计划路径所经过的地点比当前被指定为牵引车辆16的车辆更接近目的地30。
继续参考附图1和2,引导数据26可包括转向引导32,该转向引导32被损坏车辆12用于控制损坏车辆12的转向方向34。转向引导32可包括指示如何操作或致动损坏车辆12的转向器40的数值,即将损坏车辆12的转向轮(未图示)转动多少。或者,可基于由牵引车辆16推荐的用于损坏车辆12的罗盘取向来控制转向器40。可构想,牵引车辆16可直接控制损坏车辆12的转向器40,或损坏车辆12可基于解读或分析包含在引导数据26中的信息进行控制。
同样,所述引导数据26可包括速度引导36,该速度引导36被损坏车辆12用于控制损坏车辆12的车辆速度38。速度引导36可以是速度值或速度调节值(例如:提高或降低车辆速度38),被损坏车辆12用于控制损坏车辆12的制动器44及加速器46。或者,速度引导36可以是牵引车辆16的直接指令,以操作制动器44及/或加速器46。例如,速度引导36可指示损坏车辆12应该向制动器44施加多大制动压力或多少刹车功,从而,效果上看牵引车辆16是直接控制了损坏车辆12的制动器44。
在系统10的另一个实施例中,并非由牵引车辆16提供转向引导32及/或速度引导36来直接或间接操作损坏车辆12的转向器40、制动器44、及/或加速器46,而是在引导数据26中可包括来自牵引车辆16的感知传感器52的感知数据50。例如,感知数据50可包括由摄像头54所捕捉的图像,由雷达56及/或激光雷达58及/或超声换能器60检测到的目标的距离/距离变化率/方向数据。感知数据50也可包括来自牵引车辆16的全球定位系统(GPS)接收器62的世界坐标。由此,感知数据50可被损坏车辆12用来控制损坏车辆12。例如,感知数据50可指示在损坏车辆12前方行驶的前方车辆64的实例的位置,损坏车辆12可使用该信息以维持在该前方车辆64后方的安全跟随距离。
在系统10的另一个实施例中,牵引车辆16的转向器、制动器及加速器数据可被通信至损坏车辆12,并且被用来操作损坏车辆的转向器40、制动器44及加速器46。即,损坏车辆12可以模拟牵引车辆16的方式操作损坏车辆12的车辆控制器。当然,应认识到,该模拟的时间和程度需要进行偏置,以补偿牵引车辆16和损坏车辆12间的相对位置。本实施例中,可构想到,优选牵引车辆16紧邻在损坏车辆12的前方,例如位于前方车辆64所在的位置,从而可用简单的延迟功能(根据速度做调整)来基于牵引车辆16的车辆控制器操作损坏车辆12的车辆控制器18。
因此,提供了一种虚拟牵引系统(系统10)及操作所述系统10的方法。本文中所述的系统10提供了一种手段,任何采用该手段的自动化车辆可以用作牵引车辆16,以帮助辅助损坏车辆12到达目的地30的实例,在该目的地30损坏车辆12能够安全地被修复或停靠。这避免了由于等待牵引车物理牵引损坏车辆12而造成的延迟。
尽管已经根据本发明的优选实施例进行了描述,但是并不旨在受限于此,而是仅受随后的权利要求书中所阐述的范围限制。
Claims (5)
1.一种用于自动化车辆的虚拟牵引系统(10),所述系统(10)包括:
配备有第一收发器(20)的损坏车辆(12),当所述损坏车辆(12)的感知传感器(14)已经发生故障时,所述第一收发器(20)广播牵引请求(22);
配备有第二收发器(24)的牵引车辆(16),所述第二收发器(24)响应于所述牵引请求(22)向所述第一收发器(20)发送引导数据(26),由此,所述损坏车辆(12)根据所述引导数据(26)进行操作。
2.如权利要求1所述的系统(10),其特征在于,所述牵引请求(22)包括所述损坏车辆(12)的目的地(30)。
3.如权利要求1所述的系统(10),其特征在于,所述引导数据(26)包括转向引导(32),该转向引导(32)被所述损坏车辆(12)用于控制所述损坏车辆(12)的转向方向(34)。
4.如权利要求1所述的系统(10),其特征在于,所述引导数据(26)包括速度引导(36),该速度引导(36)被所述损坏车辆(12)用于控制所述损坏车辆(12)的车辆速度(38)。
5.如权利要求1所述的系统(10),其特征在于,所述引导数据(26)包括来自所述牵引车辆(16)的所述感知传感器(14)的感知数据(50),所述感知数据(50)被所述损坏车辆(12)用来操作所述损坏车辆(12)。
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US15/673,863 US20190049991A1 (en) | 2017-08-10 | 2017-08-10 | Virtual towing system |
US15/673,863 | 2017-08-10 |
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CN201810841585.8A Withdrawn CN109383522A (zh) | 2017-08-10 | 2018-07-27 | 虚拟牵引系统 |
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US (1) | US20190049991A1 (zh) |
EP (1) | EP3441841A1 (zh) |
CN (1) | CN109383522A (zh) |
Families Citing this family (5)
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US20190051188A1 (en) * | 2018-09-27 | 2019-02-14 | Intel Corporation | Technologies for on-demand ad hoc cooperation for autonomous vehicles in emergency situations |
US20210109535A1 (en) * | 2019-10-14 | 2021-04-15 | Kyle Tansey | Systems And Methods For Controlling An Unmanned Self-Powered Follow Vehicle Following A Lead Vehicle With Independent Hazard Avoidance By The Follow Vehicle |
US11535143B2 (en) * | 2019-12-30 | 2022-12-27 | GM Cruise Holdings LLC. | Providing roadside assistance to vehicles |
EP3936960A1 (en) * | 2020-07-08 | 2022-01-12 | Continental Automotive GmbH | Control method and control system to guide a malfunctional autonomous vehicle |
US11864073B2 (en) * | 2022-04-12 | 2024-01-02 | GM Global Technology Operations LLC | Wireless trailer connection |
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DE102014210147A1 (de) * | 2014-05-27 | 2015-12-03 | Continental Teves Ag & Co. Ohg | Fahrzeugsteuersystem für eine autonome Führung eines Fahrzeugs |
US9997077B2 (en) * | 2014-09-04 | 2018-06-12 | Honda Motor Co., Ltd. | Vehicle operation assistance |
US10007271B2 (en) * | 2015-12-11 | 2018-06-26 | Avishtech, Llc | Autonomous vehicle towing system and method |
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2017
- 2017-08-10 US US15/673,863 patent/US20190049991A1/en not_active Abandoned
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2018
- 2018-07-23 EP EP18184995.1A patent/EP3441841A1/en not_active Withdrawn
- 2018-07-27 CN CN201810841585.8A patent/CN109383522A/zh not_active Withdrawn
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US20190049991A1 (en) | 2019-02-14 |
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