CN110281929A - A set of vehicle group driving system and method - Google Patents
A set of vehicle group driving system and method Download PDFInfo
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- CN110281929A CN110281929A CN201910720204.5A CN201910720204A CN110281929A CN 110281929 A CN110281929 A CN 110281929A CN 201910720204 A CN201910720204 A CN 201910720204A CN 110281929 A CN110281929 A CN 110281929A
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- fleet
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- driving
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
-
- 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
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0605—Throttle position
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
-
- 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
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Abstract
It forms a team driving system the invention discloses a set of fleet, the system includes, vehicle group travels management control system, the management control system include at least unit of forming a team, in follow the bus navigation elements, communication unit and position acquisition unit, can also include Driving control unit and brake control, Throttle Opening Control, course changing control, range radar and forward direction camera.Fleet can be prevented from forming a team braking distance of the rear car with losing and shortening vehicle when driving using this set system, more efficiently promote fuel economy and safety factor of travel.
Description
Technical field
It forms a team to travel traveling technical field more particularly to a set of vehicle group driving system and side the present invention relates to one kind
Method.
Background technique
In carrier, the technical research for passing through traveling promotion potential benefit of forming a team about vehicle is being carried out always.And it is big
The amount experimental data driving mode that shows to form a team can promote fuel economy and safety factor of travel, while allow the operation of driver
More easily.It forms a team when driving, in general, the distance of front and back vehicle is smaller, and rear car is more fuel-efficient.In the case of pilot steering,
It forms a team when driving, the behavior that rear car driver notices front truck brake or accelerates, the reaction time generally needs 0.5 second, therefore, such as
Fruit utilizes modern communications technology, and the information such as the brake of front truck, acceleration are real-time transmitted to rear car, shorten braking distance, Ke Yigeng
Add and effectively promotes fuel economy and safety factor of travel.With the progress of automatic Pilot technology, the need of vehicle group traveling
Asking also can be more urgent.
Summary of the invention
The embodiment of the present invention provides a set of vehicle group driving system and method, can shorten in vehicle group traveling
Braking distance more efficiently promotes fuel economy and safety factor of travel and prevents rear car with losing.
In the present invention, front truck refers in the front of vehicle heading, the vehicle in the fleet nearest from oneself；Rear car refers to
Vehicle in the rear of vehicle heading, the fleet nearest from oneself.
On the one hand the embodiment of the present invention provides a set of vehicle group driving system.The vehicle group driving system has letter
Easily configuration, enhancing configuration 1, enhancing configuration 2 and enhancing configuration 3.
The simple configuration includes that vehicle group travels management control system, and the management control system is included at least and formed a team
Unit, follow the bus navigation elements, communication unit and position acquisition unit.The major function of the unit of forming a team is the group for fleet
Team；The major function of the follow the bus navigation elements is to be used for fleet when driving, and rear car follows a vehicle traveling；The communication unit
Major function is for the communication between each vehicle of fleet and between vehicle and background service program.The communication passes through wireless
Network is transmitted, and the wireless network preferentially uses 5G network.The four characteristics of 5G network, i.e. high speed, ubiquitous network, low function
Consumption, low time delay will provide safeguard for implementation of the invention.Using the vehicle group driving system simply configured, can complete
Fleet forms a team and follow the bus navigation feature, prevents vehicle with losing.
The enhancing configuration 1 is to increase brake control and Driving control unit on the basis of the simple configuration.It is described
The major function of brake control is for controlling vehicle brake；The major function of the Driving control unit is for according to vehicle
The position of itself and front truck be calculated at a distance from front truck and the current driving speed of vehicle itself and front truck, obtain with
Whether need to take vehicle brake measure afterwards, if brake measure need to be taken, is controlled to the brake and send brake control letter
Number, it include braking strength in the brake control signal.
The enhancing configuration 2 is to increase Throttle Opening Control, course changing control and ranging thunder on the basis of enhancing configuration 1
It reaches.The major function of the Throttle Opening Control is accelerated for controlling vehicle；The major function of the course changing control is for controlling
The steering of vehicle；The major function of the range radar be for real-time monitoring vehicle itself at a distance from front truck；The driving
Control unit is in addition to undertaking other than the function in the enhancing configuration 1, and the vehicle for being also used to be measured according to the range radar is certainly
For body at a distance from front truck and the current driving speed of vehicle itself and front truck, obtaining then need to be to the measure that vehicle is taken, i.e.,
Deceleration, acceleration keeps former speed.If needing to slow down, is controlled to the brake and send brake control signal or release throttle, institute
Stating includes braking strength in brake control signal；If need to accelerate or keep former speed, throttle is sent to the Throttle Opening Control
Signal is controlled, includes throttle dynamics in the throttle control signal.
The enhancing configuration 3 is on the basis of enhancing configuration 2, to camera before increasing.The forward direction camera
Major function be that image for shooting vehicle heading judges the traveling by the Driving control cell processing
The case where traffic safety that whether has an impact on direction, the case where if there is the influence traffic safety, then controls to the brake
Send brake control signal；
The case where influence traffic safety, which is mainly included on the vehicle heading, pedestrian and/or barrier；
Meanwhile if it is head vehicle, the image will also be transmitted to the other members of fleet, keep other members real-time
The safety of fleet's traveling improves in the case where grasping in front of fleet.
In addition, simple configure configures 2 with the enhancing configuration 1, enhancing, enhances the management control in configuration 3
The preferred embodiment of system is will form a team unit, follow the bus navigation elements, communication unit, position acquisition unit and Driving control unit
It is integrated on vehicle-mounted flat computer.
On the other hand the embodiment of the present invention provides a kind of vehicle group running method.All may be used using anyone of the invention
To create a fleet using unit of forming a team, and become fleet team leader.The vehicle use of fleet to be added form a team unit propose plus
Enter fleet's application, and the application is sent to fleet team leader using communication unit, the fleet team leader is received using communication unit
To after the application, unit of forming a team will be used to decide whether to receive the vehicle of the fleet to be added and use communication unit will
The vehicle of fleet to be added described in the result notice whether received, also, if the vehicle of the fleet to be added is received to be added
Fleet will also use other members in communication unit notice fleet and the vehicle of the fleet to be added be added in fleet.
In fleet vehicle be calculated according to itself with the position of front truck itself with a distance from front truck or according to ranging
Radar obtain with a distance from front truck, using Driving control unit, when in conjunction with itself current driving speed and the speed
Safe distance from front truck determines current driving behavior, i.e. deceleration, acceleration or holding speed.If needing to slow down, Xiang Suoshu
Brake control sends brake control signal or unclamps throttle, includes braking strength in the brake control signal；If need to add
Speed keeps former speed, then sends throttle control signal to the Throttle Opening Control, include throttle power in the throttle control signal
Degree.
In addition, vehicle will also use the preceding image to camera shooting vehicle heading, pass through the Driving control list
Member processing, judge whether to have an impact in the driving direction traffic safety the case where, if there is it is described influence traffic safety feelings
Condition then controls to the brake for example, there are pedestrian, barrier etc. in front and sends brake control signal, the brake control signal
In include braking strength.If the vehicle is a vehicle, the image of the forward direction camera shooting will also provide communication unit
The case where sending other members in fleet to, other members is enable to be grasped in front of fleet in real time improves fleet's traveling
Safety.
A vehicle for vehicle traveling is followed in fleet, is also analyzed using the driving trace of Driving control unit enemy's vehicle,
Judge in the current position of the vehicle itself, the direction whether head vehicle has turned to and turned to.If head vehicle turns to,
Steering controling signal is exported to course changing control, controls Vehicular turn.
Detailed description of the invention
Fig. 1 is the vehicle group driving system composition figure that the embodiment of the present invention one provides；
Fig. 2 is vehicle group driving system provided by Embodiment 2 of the present invention composition figure；
Fig. 3 is the vehicle group driving system composition figure that the embodiment of the present invention three provides.
Fig. 4 is the flow diagram of forming a team for the vehicle group running method that 1-3 of the embodiment of the present invention is provided
Fig. 5 be the vehicle group running method that provides of the embodiment of the present invention 2 form a team travel flow diagram
Fig. 6 be the vehicle group running method that provides of the embodiment of the present invention 3 form a team travel flow diagram
Fig. 7 is the forward direction camera use flow diagram for the vehicle group running method that the embodiment of the present invention 3 provides
Fig. 8 is the course changing control use flow diagram for the vehicle group running method that the embodiment of the present invention 3 provides
Specific embodiment
Fig. 1 is the vehicle group driving system composition figure that the embodiment of the present invention one provides, and is specifically included:
Vehicle-mounted flat computer 101 and background service program 102.
It include form a team unit 103, follow the bus navigation elements 104,105 and of position acquisition unit in vehicle-mounted flat computer 101
Communication unit 106.
The major function for forming a team unit 103 is formed a team for fleet；
The major function of the follow the bus navigation elements 104 is to be used for fleet when driving, and rear car follows a vehicle traveling；
The major function of the position acquisition unit 105 is the current location for obtaining vehicle itself；
The major function of the communication unit 106 be between each vehicle of fleet communication and vehicle and background service
Communication between program 102.Communication between the communication unit 106 and background service program 102 be by wireless network 107 into
Capable.The wireless network 107 preferentially uses 5G network.The four characteristics of 5G network, i.e. high speed, ubiquitous network, low-power consumption, it is low when
Prolonging will provide safeguard for implementation of the invention.
It is worth noting that vehicle-mounted flat computer 101 is a preferred product of the present embodiment, can also select other
Be able to achieve one of the function of unit 103 of forming a team, follow the bus navigation elements 104, position acquisition unit 105 and communication unit 106 or
Multiple products.
Fig. 2 is vehicle group driving system provided by Embodiment 2 of the present invention composition figure, is specifically included:
Vehicle-mounted flat computer 201, brake control 202 and background service program 203.
It include the unit 204, follow the bus navigation elements 205, position acquisition unit 206, logical of forming a team in vehicle-mounted flat computer 201
Interrogate unit 207 and Driving control unit 208.
The major function for forming a team unit 204 is formed a team for fleet；
The major function of the follow the bus navigation elements 205 is to be used for fleet when driving, and rear car follows a vehicle traveling；
The major function of the position acquisition unit 206 is the current location for obtaining vehicle itself；
The major function of the communication unit 207 be between each vehicle of fleet communication and vehicle and background service
Communication between program 203.Communication between the communication unit 207 and background service program 203 be by wireless network 209 into
Capable.The wireless network 209 preferentially uses 5G network.The four characteristics of 5G network, i.e. high speed, ubiquitous network, low-power consumption, it is low when
Prolonging will provide safeguard for implementation of the invention.
The major function of the brake control 202 is for controlling vehicle brake；The Driving control unit 208 it is main
Function be for according to the position of vehicle itself and front truck be calculated at a distance from front truck and vehicle itself and front truck
Whether current driving speed obtains then needing to take vehicle brake measure, if brake measure need to be taken, to the brake
Control 202 sends brake control signal, includes braking strength in the brake control signal.
It is worth noting that vehicle-mounted flat computer 201 is a preferred product of the present embodiment, can also select other
It is able to achieve unit 204 of forming a team, follow the bus navigation elements 205, position acquisition unit 206, communication unit 207 and Driving control unit
One or more products of 208 function.
Fig. 3 is the vehicle group driving system composition figure that the embodiment of the present invention three provides, and is specifically included:
Vehicle-mounted flat computer 301, Throttle Opening Control 302, brake control 303, range radar 304, course changing control 305, forward direction
Camera 306 and background service program 307.
It include form a team unit 308, follow the bus navigation elements 309, position acquisition unit in the vehicle-mounted flat computer 301
310, communication unit 311 and Driving control unit 312.
The major function of the Throttle Opening Control 302 is accelerated for controlling vehicle；
The major function of the brake control 303 is for controlling vehicle brake；
The major function of the range radar 304 be for real-time monitoring vehicle itself at a distance from front truck；
The major function of the course changing control 305 is the steering for controlling vehicle；
The major function of the forward direction camera 306 is the image for shooting vehicle heading, passes through the driving
Control unit 312 processing, judge whether to have an impact in the driving direction traffic safety the case where, if there is influences driving
The situation of safety then controls to the brake and sends brake control signal, includes braking strength in the brake control signal.
The case where influence traffic safety, which is mainly included on the vehicle heading, pedestrian and/or barrier.Meanwhile if
It is a vehicle, the image will also be transmitted to the other members of fleet, and other members is enable to grasp the feelings in front of fleet in real time
Condition improves the safety of fleet's traveling.
The major function for forming a team unit 308 is formed a team for fleet；
The major function of the follow the bus navigation elements 309 is to be used for fleet when driving, and rear car follows a vehicle traveling；
The major function of the position acquisition unit 310 is the current location for obtaining vehicle itself；
The major function of the communication unit 311 be between each vehicle of fleet communication and vehicle and background service
Communication between program 307.Communication between the communication unit 311 and background service program 307 be by wireless network 313 into
Capable.The wireless network 311 preferentially uses 5G network.The four characteristics of 5G network, i.e. high speed, ubiquitous network, low-power consumption, it is low when
Prolonging will provide safeguard for implementation of the invention.
The Driving control unit 312 is mainly used for the vehicle measured according to the range radar itself at a distance from front truck
And the current driving speed of vehicle itself and front truck, obtaining then need to be to the measure that vehicle is taken, i.e. deceleration, acceleration or holding
Former speed；If needing to slow down, brake control signal is sent to brake control 303 or unclamps throttle, the brake control letter
It include braking strength in number；If need to accelerate or keep former speed, throttle control signal is sent to the Throttle Opening Control 302,
It include throttle dynamics in the throttle control signal.
It is worth noting that vehicle-mounted flat computer 301 is a preferred product of the present embodiment, can also select other
It is able to achieve unit 308 of forming a team, follow the bus navigation elements 309, position acquisition unit 310, communication unit 311 and Driving control unit
One or more products of 312 function.
Fig. 4 is the flow diagram of forming a team for the vehicle group running method that 1-3 of the embodiment of the present invention is provided, and is specifically included:
Step 401 creates fleet
It may be by one fleet of unit creation that forms a team using anyone of the invention, and become fleet team leader.
Fleet is added in step 402 application
The vehicle use of fleet to be added unit of forming a team proposes that fleet's application is added, and using communication unit by the application
It is sent to the fleet team leader.
Whether step 403 receives
After the fleet team leader receives the application using communication unit, use unit of forming a team is decided whether described in receiving
The vehicle of fleet to be added.If received, 404 are thened follow the steps, it is no to then follow the steps 405.
Step 404 is added to fleet
And using communication unit by the vehicle of fleet to be added described in the result notice whether received, also, if connect
Receive the fleet to be added vehicle be added fleet, will also use communication unit notice fleet in other members will be described to be added
The vehicle of fleet is added in fleet；
Step 405 terminates
Fig. 5 be the vehicle group running method that provides of the embodiment of the present invention 2 form a team travel flow diagram, it is specific to wrap
It includes:
Step 501 calculates with a distance from front truck
Itself is calculated with a distance from front truck with the position of front truck according to itself in vehicle in fleet.
Step 502 determines current driving behavior
Using Driving control unit, when in conjunction with itself current driving speed and the speed from front truck safety away from
From determining current driving behavior, i.e., deceleration, acceleration or keep speed.If needing to slow down, step 503 is executed, if needing to accelerate
Or former speed is kept, execute step 504.
Step 503 is controlled to the brake sends brake control signal or release throttle
It is controlled to the brake and sends brake control signal or unclamp throttle, include brake in the brake control signal
Dynamics.
Step 504 sends throttle control signal to the Throttle Opening Control
Throttle control signal is sent to the Throttle Opening Control, includes throttle dynamics in the throttle control signal.
Fig. 6 be the vehicle group running method that provides of the embodiment of the present invention 3 form a team travel flow diagram, it is specific to wrap
It includes:
Step 601 obtains with a distance from front truck
Range radar obtains with a distance from front truck.
Step 602 determines current driving behavior
Using Driving control unit, when in conjunction with itself current driving speed and the speed from front truck safety away from
From determining current driving behavior, i.e., deceleration, acceleration or keep speed.If needing to slow down, step 603 is executed, if needing to accelerate
Or former speed is kept, execute step 604.
Step 603 is controlled to the brake sends brake control signal or release throttle
It is controlled to the brake and sends brake control signal or unclamp throttle, include brake in the brake control signal
Dynamics.
Step 604 sends throttle control signal to the Throttle Opening Control
Throttle control signal is sent to the Throttle Opening Control, includes throttle dynamics in the throttle control signal.
Fig. 7 is the forward direction camera use flow diagram for the vehicle group running method that the embodiment of the present invention 3 provides, tool
Body includes:
Step 701 obtains video image
Forward direction camera shoots video image.
Step 702 image zooming-out
Image zooming-out is carried out to the video image.
Whether step 703 has pedestrian or barrier
Judge whether there is pedestrian or barrier in vehicle traveling direction.If there is pedestrian or barrier, then follow the steps
704, it is no to then follow the steps 705.
Step 704 is controlled to brake sends brake control signal or release throttle
It is controlled to brake and sends brake control signal or unclamp throttle, include brake weight in the brake control signal
Degree.
Step 705 whether head vehicle
If it is head vehicle, 706 are thened follow the steps, it is no to then follow the steps 707.
Video image is sent to the other members of fleet by step 706
Video image captured by the forward direction camera is sent to the other members of fleet by communication unit, is made described
Other members can grasp the case where in front of fleet in real time, improve the safety of fleet's traveling.
Step 707 terminates
Fig. 8 is the course changing control use flow diagram for the vehicle group running method that the embodiment of the present invention 3 provides, specifically
Include:
Step 801 obtains head vehicle driving trace
Obtain the driving trace of head vehicle.
Step 802 obtains self-position
Obtain the current location of vehicle itself.
Whether step 803, which needs, turns to
According to the current location of vehicle itself and the driving trace of head vehicle, the traveling is analyzed using Driving control unit
Whether track has turned at the self-position and steering angle, if turned to, thens follow the steps 804, otherwise executes
Step 805.
Step 804 exports steering controling signal
Steering controling signal is exported to course changing control, controls Vehicular turn.The steering controling signal includes steering angle.
Step 805 terminates
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, the range for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (8)
1. a set of vehicle group driving system, which is characterized in that the system comprises vehicle groups to travel management control system, institute
It states management control system and includes at least form a team unit, follow the bus navigation elements, communication unit and position acquisition unit:
The major function of the unit of forming a team is formed a team for fleet；
The major function of the follow the bus navigation elements is to be used for fleet when driving, and rear car follows a vehicle traveling；
The major function of the communication unit is for logical between each vehicle of fleet and between vehicle and background service program
News；
The major function of the position acquisition unit is the current location for obtaining vehicle itself.
2. the method according to claim 1, wherein the management control system further includes brake control and driving
Control unit:
The major function of the brake control is for controlling vehicle brake；
The major function of the Driving control unit is for be calculated according to the position of vehicle itself and front truck and front truck
Distance and vehicle itself and front truck current driving speed, obtain then whether needing to take vehicle brake measure, if
Brake measure need to be taken, then is controlled to the brake and sends brake control signal, includes brake in the brake control signal
Dynamics.
3. the method according to claim 1, wherein the management control system further includes brake control, throttle
Control, course changing control, range radar and Driving control unit:
The major function of the brake control is for controlling vehicle brake；
The major function of the Throttle Opening Control is accelerated for controlling vehicle；
The major function of the course changing control is the steering for controlling vehicle；
The major function of the range radar be for real-time monitoring vehicle itself at a distance from front truck；
The Driving control unit is mainly used for the vehicle measured according to the range radar itself at a distance from front truck and vehicle
The current driving speed of itself and front truck obtains that then deceleration, acceleration or former speed need to be kept to the measure that vehicle is taken；
If needing to slow down, is controlled to the brake and send brake control signal or unclamp throttle, include in the brake control signal
There is braking strength；If need to accelerate or keep former speed, throttle control signal, the Throttle Opening Control are sent to the Throttle Opening Control
It include throttle dynamics in signal.
4. according to the method described in claim 3, it is characterized in that, the management control system further includes preceding to camera, institute
To the image that the major function of camera is for shooting vehicle heading before stating, by the Driving control cell processing,
Judge whether to have an impact in the driving direction traffic safety the case where, the case where if there is the influence traffic safety, then to
The brake control sends brake control signal, includes braking strength in the brake control signal；
The case where influence traffic safety, which is mainly included on the vehicle heading, pedestrian and/or barrier；
Meanwhile if it is head vehicle, the image will also be transmitted to the other members of fleet, and other members is enable to grasp in real time
The case where in front of fleet, improves the safety of fleet's traveling.
5. method according to claims 1 to 4, which is characterized in that preferably, the management control system is integrated in vehicle-mounted
On tablet computer.
6. a kind of vehicle group running method, which is characterized in that
It may be by one fleet of unit creation that forms a team using anyone of the invention, and become fleet team leader, vehicle to be added
The vehicle use of team form a team unit propose be added fleet application, and using communication unit by it is described application be sent to the team, fleet
It is long, after the fleet team leader receives the application using communication unit, will use form a team unit decide whether to receive it is described to be added
Enter the vehicle of fleet and using communication unit by the vehicle of fleet to be added described in the result notice whether received, also, such as
Fruit receives the vehicle of the fleet to be added that fleet is added, will also use in communication unit notice fleet other members will it is described to
The vehicle that fleet is added is added in fleet；
In fleet vehicle be calculated according to itself with the position of front truck itself with a distance from front truck or according to range radar
Obtain with a distance from front truck, using Driving control unit, when in conjunction with itself current driving speed and the speed from preceding
The safe distance of vehicle determines current driving behavior, i.e. deceleration, acceleration or holding speed, if needing to slow down, to the brake
Control sends brake control signal or unclamps throttle, includes braking strength in the brake control signal；If need to accelerate or
Former speed is kept, then sends throttle control signal to the Throttle Opening Control, includes throttle dynamics in the throttle control signal.
7. according to the method described in claim 6, it is characterized in that, head vehicle also leads to preceding to video image captured by camera
The case where crossing communication unit and be sent to the other members of fleet, other members is enable to be grasped in front of fleet in real time improves fleet
The safety of traveling.
8. according to the method described in claim 6, it is characterized in that, a vehicle for vehicle traveling is followed in fleet, also according to itself
Current location and head vehicle driving trace, whether needed to turn to using Driving control unit, if necessary to turn to, then
Steering controling signal is exported to course changing control, controls Vehicular turn.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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