CN111081009A - Vehicle formation driving system based on Internet of vehicles and control method - Google Patents
Vehicle formation driving system based on Internet of vehicles and control method Download PDFInfo
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- CN111081009A CN111081009A CN201911391828.3A CN201911391828A CN111081009A CN 111081009 A CN111081009 A CN 111081009A CN 201911391828 A CN201911391828 A CN 201911391828A CN 111081009 A CN111081009 A CN 111081009A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/22—Platooning, i.e. convoy of communicating vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
Abstract
The invention discloses a vehicle formation driving system based on the Internet of vehicles, which comprises: the information interaction module is used for carrying out communication between vehicles and acquiring vehicle condition information of the formation vehicles; the data processing module is electrically connected with the information interaction module and is used for analyzing and processing the received information to obtain expected vehicle condition data of the vehicle; and the control system is simultaneously electrically connected with the information interaction module and the data processing module and is used for controlling the speed of the vehicle according to the received vehicle expected condition data obtained by the processing module. The invention also provides a control method for vehicle formation driving based on the internet of vehicles, a driver can quickly find the formation vehicles and drive with the vehicles, and the expected speed is controlled according to the driving condition of the vehicles after entering the formation, so that the safe distance between the vehicles and the front vehicle is maintained, the traffic jam condition is relieved, and the driving safety is improved. The running condition of the vehicle is controlled through vehicle-to-vehicle communication, so that the distance between the vehicles and the speed of the vehicle are more reasonable.
Description
Technical Field
The invention relates to a vehicle formation driving system based on an internet of vehicles and a control method, belonging to the field of vehicle traffic capacity.
Background
With the rapid development of the automobile industry, more and more automobiles are on the road, the accompanying problems of traffic jam and traffic jam are more and more serious, the traveling experience of people is greatly influenced, and therefore link traffic jam is urgent.
At the present stage, the formation of vehicles based on the internet of vehicles is very hot, and the formation of vehicles can have the problem of slightly slowing down traffic jam by orderly arranging the vehicles, so that the energy is saved and the safety is improved. However, the current formation driving scheme is still not mature, the form after formation is fixed, the flexibility and the real-time performance are not achieved, and the application range is not wide enough.
Disclosure of Invention
The invention designs and develops a vehicle formation driving system based on the internet of vehicles, which realizes real-time formation driving by enabling vehicles to communicate through an information module, obtains expected vehicle conditions of the vehicles through a processing module and a control module, controls the driving speed of the vehicles and prevents traffic accidents.
The invention also designs and develops a control method for vehicle formation driving based on the internet of vehicles, so that a driver can quickly find the formation vehicles and drive with the vehicles, and according to the driving condition of the vehicles after entering the formation, the expected speed is controlled, the safe distance between the vehicles and the front vehicle is kept, the traffic jam condition is relieved, and the driving safety is improved.
The technical scheme provided by the invention is as follows:
a vehicle formation driving system based on internet of vehicles, comprising:
the information interaction module is used for carrying out communication between vehicles and acquiring vehicle condition information of the formation vehicles;
the data processing module is electrically connected with the information interaction module and is used for analyzing and processing the received information to obtain expected vehicle condition data of the vehicle;
and the control system is simultaneously electrically connected with the information interaction module and the data processing module and is used for controlling the speed of the vehicle according to the received vehicle expected condition data obtained by the processing module.
Preferably, the vehicle condition information includes: vehicle speed, acceleration, braking condition, lane change condition, and separation from the preceding vehicle.
A vehicle formation driving control method based on the Internet of vehicles is characterized by using the vehicle formation driving system based on the Internet of vehicles and comprising the following steps:
the information interaction module is used for carrying out communication between vehicles and acquiring vehicle condition information of the formation vehicles;
the data processing module is electrically connected with the information interaction module and is used for analyzing and processing the received information to obtain expected vehicle condition data of the vehicle;
and the control system is simultaneously electrically connected with the information interaction module and the data processing module and is used for controlling the speed of the vehicle according to the received vehicle expected condition data obtained by the processing module.
Preferably, the vehicle condition information includes: vehicle speed, acceleration, braking condition, lane change condition, and separation from the preceding vehicle.
A vehicle formation driving control method based on the Internet of vehicles uses the vehicle formation driving system based on the Internet of vehicles, and comprises the following steps:
determining a forward destination, determining in the vehicle formation travel system whether there are similar vehicles at the forward destination:
if the similar vehicle does not exist in the front destination, the vehicle becomes a head vehicle;
if the similar vehicles exist at the front destination, sending a vehicle following running request to the similar vehicles, entering formation, controlling the speed in the running process, and ensuring that the distance between the similar vehicles and the front vehicle is the expected safe distance.
Preferably, the vehicle similarity refers to vehicles with the same destination or with destinations within 500 meters.
Preferably, the empirical formula of the expected safe vehicle distance is as follows:
Df＝veth+ds；
wherein v iseIs the desired speed of the vehicle, thTime interval between workshops, dsIs the distance margin.
Preferably, after the vehicles enter the formation, the vehicle speed of the vehicle and the vehicle speed of the front vehicle are monitored, the vehicle speed is controlled to reach the expected vehicle speed,
when v is1＞v2When, ve＝0.9v2；
When v is1＜v2When, ve＝1.1v2；
When v is1＝v2When, ve＝v2；
Wherein v is1Is the speed of the vehicle, v2For the speed of the preceding vehicle, veIs the desired vehicle speed.
The invention has the following beneficial effects: according to the invention, vehicles with similar paths are formed to run, real-time formation running is realized through the vehicle networking technology, and after a driver inputs a destination, the formed vehicles can be quickly searched through the vehicle networking to realize vehicle following running, so that the urban traffic jam condition can be relieved, and the running safety is improved. And the driving condition of the vehicle is controlled through vehicle-to-vehicle communication, so that the distance between the vehicles and the speed of the vehicle are more reasonable, the occurrence of traffic accidents is reduced, the road space is fully utilized, and the road traffic rate is improved.
Drawings
Fig. 1 is a schematic structural diagram of a vehicle formation driving system based on the internet of vehicles according to the present invention.
Fig. 2 is a flowchart of a vehicle formation driving method based on the internet of vehicles according to the present invention.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
As shown in fig. 1 and 2, the present invention provides a vehicle formation driving system based on internet of vehicles, comprising: the system comprises an information interaction module, a data processing module and a control execution system.
The information interaction module comprises an information interaction module and a data processing module, the information interaction module acquires vehicle condition information of formation vehicles through workshop communication, the data processing module analyzes and processes the received vehicle condition information to obtain the expected vehicle speed of the vehicle and the safe distance between the vehicles ahead, and the vehicle condition information comprises: vehicle speed, acceleration, braking condition, lane change condition and distance from the leading vehicle
The control execution system is simultaneously electrically connected with the information interaction module and the data processing module, and can control the speed of the vehicle according to the vehicle expected condition data obtained by the processing module. The data processing module is an ECU (electronic control Unit), and the control execution system is an electronic throttle control system. The information interaction module displays the obtained information on the center console, and voice broadcasting is carried out through the center console in emergency.
In the present invention, it is preferable that the vehicle-to-vehicle communication uses DSRC vehicle-to-vehicle communication to transmit and receive the traveling condition data between vehicles.
The control execution system is an electronic throttle control system, the vehicle speed signal is input into the control unit after receiving the vehicle condition information of the front vehicle transmitted by the vehicle-to-vehicle communication, and the control unit adjusts the vehicle speed of the vehicle and controls the distance between the vehicle and the front vehicle to be larger than the minimum safe distance so as to avoid the collision between the two vehicles.
In the present invention, as a preferable mode, the distance between the two vehicles is acquired by a millimeter radar ranging sensor.
In the invention, the driving conditions preferably include the following conditions:
under the first working condition, when the front intersection is a red light, the braking information of the first formation vehicle is transmitted to the rear vehicle through vehicle-to-vehicle communication when the front formation vehicle brakes at the intersection, and the rear formation vehicle is prompted to decelerate and stop;
under the working condition II, when the red light of the intersection is changed into the green light, the formation head vehicle transmits starting information to the rear vehicle through workshop communication when starting the vehicle, and prompts the rear vehicle to start the vehicle;
and under the third working condition, when the head vehicle of the formation changes the lane, the head vehicle can inform the rear vehicle of the turning-on state of the steering lamp after turning on the steering lamp, and the rear vehicle is prompted that the front vehicle of the rear vehicle changes the lane.
The real-time formation driving of vehicles is realized through the vehicle networking technology, and the traffic jam is relieved.
As shown in fig. 2, the present invention further provides a control method of a vehicle formation driving system based on the forward direction of a vehicle, so that a driver can quickly find a formation vehicle and drive with the vehicle, and according to a driving condition of the vehicle after entering the formation, control an expected vehicle speed, maintain a safe distance between the vehicle and a preceding vehicle, alleviate a traffic jam, and improve driving efficiency, specifically comprising:
determining a forward destination, determining whether the forward destination has a similar vehicle in the vehicle formation driving system:
if the similar vehicle does not exist in the front destination, the vehicle becomes a head vehicle;
if the similar vehicles exist at the front destination, the following driving request is sent to the similar vehicles, formation is carried out, the speed is controlled in the driving process, and the distance between the similar vehicles and the front vehicle is ensured to be the expected safe distance.
Wherein, similar vehicles refer to vehicles with the same destination or within a distance 500 of the destination.
In the invention, as a preferable mode, the head car plans the driving route through the electronic map, and the driving route is changed according to the real-time traffic flow, so that the optimal driving route is established.
The empirical formula for the desired safe vehicle distance is: df＝veth+ds；
Wherein v iseIs the desired speed of the vehicle, thThe time interval between workshops is generally 1.2-2.0 s, dsIs the distance margin.
After the vehicles enter the formation, the speed v of the vehicle is measured1With the speed v of the preceding vehicle2Monitoring, controlling the desired speed of the vehicle,
when v is1＞v2When, ve＝0.9v2；
When v is1＜v2When, ve＝1.1v2；
When v is1＝v2When, ve＝v2；
Wherein v is1Is the speed of the vehicle, v2The speed of the front vehicle is the speed of the front vehicle,
in the specific operation, firstly, a vehicle driver inputs a destination, then selects the last vehicle in formation from front formation vehicles pushed by the internet of vehicles to carry out vehicle following formation driving, and sends vehicle information (license plate, driver information and the like) and vehicle following notification to the front vehicle so as to avoid the situation that a lawbreaker maliciously follows the vehicle.
The formation head vehicle plans the route according to the real-time traffic flow and the construction condition of each route to the destination provided by the internet of vehicles and the high-precision map, and selects the route with smaller traffic flow from the routes with small distance difference to drive so as to relieve traffic jam.
When the vehicle reaches the vicinity of the destination, the vehicle notifies the front vehicle and the rear vehicle through vehicle-to-vehicle communication, the notified vehicle is prompted by voice through an information interaction interface to avoid traffic accidents, and the vehicle can leave the formation after a short reaction time.
Particularly, when the vehicle does not arrive at the destination and wants to leave the formation, the vehicle can send a departure notice to the front vehicle and the rear vehicle and then leave the formation, but if the vehicle maliciously hinders the formation driving efficiency, the vehicles in front of and behind the vehicle can be uploaded to the internet of vehicles through videos recorded by a vehicle data recorder to report the vehicle, and the vehicle with excessive reported times is deducted.
If the first vehicle wants to quit the formation on the way, the rear vehicle can be informed through the vehicle-to-vehicle communication, the rear vehicle takes over the formation, and then the rear vehicle leaves the formation.
The invention also provides a vehicle formation traffic capacity evaluation method based on the Internet of vehicles, which evaluates the traffic capacity Q of the driving section of the vehicle according to the unit number of vehicles on a single lane,
wherein S is the number of vehicles in the driving area, L is the unit vehicle length, nsThe number of lanes in the driving area;
when Q is larger than or equal to 1, the traffic jam in the driving section is indicated, and the traffic capacity is poor;
when Q <1, the traffic in the driving area is smooth, and the traffic capacity is good.
According to the invention, vehicles with similar paths are formed to run, real-time formation running is realized through the vehicle networking technology, and after a driver inputs a destination, the formed vehicles can be quickly searched through the vehicle networking to realize vehicle following running, so that the urban traffic jam condition can be relieved, and the running safety is improved. And the driving condition of the vehicle is controlled through vehicle-to-vehicle communication, so that the distance between the vehicles and the speed of the vehicle are more reasonable, the occurrence of traffic accidents is reduced, the road space is fully utilized, and the road traffic rate is improved.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (6)
1. A vehicle formation driving system based on the Internet of vehicles is characterized by comprising:
the information interaction module is used for carrying out communication between vehicles and acquiring vehicle condition information of the formation vehicles;
the data processing module is electrically connected with the information interaction module and is used for analyzing and processing the received information to obtain expected vehicle condition data of the vehicle;
and the control system is simultaneously electrically connected with the information interaction module and the data processing module and is used for controlling the speed of the vehicle according to the received vehicle expected condition data obtained by the processing module.
2. The networked vehicle formation driving system according to claim 1, wherein the vehicle condition information includes: vehicle speed, acceleration, braking condition, lane change condition, and separation from the preceding vehicle.
3. A vehicle formation driving control method based on the internet of vehicles, characterized in that the vehicle formation driving system based on the internet of vehicles according to claim 1 or 2 is used, comprising:
determining a forward destination, determining in the vehicle formation travel system whether there are similar vehicles at the forward destination:
if the similar vehicle does not exist in the front destination, the vehicle becomes a head vehicle;
if the similar vehicles exist at the front destination, sending a vehicle following running request to the similar vehicles, entering formation, controlling the speed in the running process, and ensuring that the distance between the similar vehicles and the front vehicle is the expected safe distance.
4. The Internet of vehicles-based vehicle formation driving control method of claim 3, wherein the vehicle similarity refers to vehicles with the same destination or with destinations within 500 meters.
5. The networked vehicle formation driving control method according to claim 4, wherein the empirical formula of the desired safe vehicle distance is:
Df＝veth+ds；
wherein v iseIs the desired speed of the vehicle, thTime interval between workshops, dsIs the distance margin.
6. The networked vehicle formation driving control method according to claim 5, wherein after the vehicles enter the formation, the vehicle speed of the vehicle and the vehicle speed of the vehicle ahead are monitored, the vehicle speed is controlled to reach the desired vehicle speed,
when v is1＞v2When, ve＝0.9v2；
When v is1＜v2When, ve＝1.1v2；
When v is1＝v2When, ve＝v2；
Wherein v is1Is the speed of the vehicle, v2For the speed of the preceding vehicle, veIs the desired vehicle speed.
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