CN111409674A

CN111409674A - Team driving method and device for mobile unit, computer device and storage medium

Info

Publication number: CN111409674A
Application number: CN202010264945.XA
Authority: CN
Inventors: 雷冰
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-04-03
Filing date: 2020-04-03
Publication date: 2020-07-14
Anticipated expiration: 2040-04-03
Also published as: CN111409674B

Abstract

The invention relates to a team-forming driving method and device of mobile units, a computer device and a storage medium, belonging to the technical field of rail transit. Because the two mobile units with the same driving route can be driven in a team, the safe driving of the two mobile units is ensured without setting a safe distance, so that the length of the driving road section for bearing the mobile units is increased, and the bearing capacity of the driving road section is obviously improved.

Description

Team driving method and device for mobile unit, computer device and storage medium

Technical Field

The invention relates to the technical field of rail transit, in particular to a team driving method and device of a mobile unit, a computer device and a storage medium.

Background

In modern society, in order to meet the requirements of people on material transportation and travel, a transportation network is established to orderly schedule vehicles in a certain space range. The existing vehicle dispatching method cannot make full use of a traffic network, particularly in the field of air rail transit, a structure of one or two carriages is generally adopted by a rail car, and on the premise of limited bearing capacity, a safe distance between two rows of rail cars is further set for ensuring safe running between the two rows of rail cars. If there are more railcars in the whole transportation network, the road section occupied by the safety distance between two corresponding rows of railcars will be greatly increased, thereby reducing the bearing capacity of the whole transportation network.

Disclosure of Invention

The present invention provides a team driving method and apparatus, a computer apparatus and a storage medium for a mobile unit, to solve at least one of the problems of the background art.

In order to achieve the above object, in a first aspect, an embodiment of the present invention provides a method for group driving of a mobile unit, applied to the mobile unit, including:

acquiring driving route information of at least two mobile units;

determining whether a team driving condition is satisfied based on the driving route information of the at least two mobile units;

and controlling at least two mobile units to travel in a team when the team traveling condition is met.

In some embodiments, the travel route information includes at least one of route sections through which a travel route of the mobile unit passes and/or time information at which the mobile unit passes through each route section;

the team driving condition includes that at least two mobile units have the same route section greater than or equal to a first value, and/or that a difference in time between the at least two mobile units passing the same route section is less than or equal to a first threshold value.

In some embodiments, the method is performed by any one of the at least two mobile units, the other mobile units except the active mobile unit being passive mobile units; or the method is executed by the road host corresponding to the route section passed by the driving routes of at least two mobile units; or, the method is executed by the road network control host.

In some embodiments, the active mobile unit obtains the driving route information of the passive mobile unit by:

the method comprises the steps that an active mobile unit obtains route occupation information of a road host corresponding to a route section through which a driving route passes;

travel route information for the passive mobile unit is determined based on the route occupancy information.

In some embodiments, the route occupation information of the road host corresponding to the route section through which the driving route of the active mobile unit passes is acquired by the active mobile unit;

the active mobile unit sends a passing request to a road host corresponding to a route section on the candidate driving route in the route planning process, and receives route occupation information of the corresponding route section returned by the road host; or,

and the active mobile unit sends a traffic request to the road host corresponding to the route section on the candidate driving route in the driving process and receives the route occupation information of the corresponding route section returned by the road host.

the active mobile unit acquires the driving route information of the adjacent mobile unit by establishing a communication connection with the adjacent mobile unit during driving.

In some embodiments, controlling the at least two mobile units to travel in a fleet, when the fleet travel condition is met, comprises:

determining a team travel section of at least two mobile units when the team travel condition is met, the team travel section comprising at least one route section;

and controlling at least two mobile units to travel on the formation travel section in at least one route interval.

In some embodiments, the controlling the at least two mobile units to travel the formation travel section in the at least one route section is specifically:

and controlling at least two mobile units to travel in a group in at least one route interval by the active mobile unit.

In some embodiments, the above method further comprises:

sending a team driving request to a road host corresponding to a route section included in a team driving road section;

and receiving the team running confirmation information fed back by the road host.

In some embodiments, the team travel segments of all mobile units participating in the team travel are the same, or at least one mobile unit participating in the team travel is different from the team travel segments of other mobile units.

In some embodiments, the controlling the at least two teams of mobile units to travel comprises:

if the mobile units participating in the formation run on different logical lanes, at least one mobile unit is controlled to switch the logical lanes so that all the mobile units participating in the formation run on the same logical lane.

In some embodiments, the travel speed limit for the mobile unit in the fleet travel state is greater than the travel speed limit for the mobile unit in the non-fleet travel state.

In a second aspect, an embodiment of the present invention provides a method for group driving of a mobile unit, which is applied to a road host, and includes:

receiving a team driving request sent by an active mobile unit;

determining whether a team driving condition is satisfied based on route occupancy information within the route section;

and when the request is satisfied, feeding back the formation driving confirmation information to the active mobile unit.

In some embodiments, the route occupancy information includes at least one of route sections through which a driving route of the mobile unit passes and/or time information of the mobile unit passing through each route section;

In some embodiments, the route occupancy information further includes logical lanes within a route section occupied by a driving route of the mobile unit;

In some embodiments, the route occupation information is stored in a route occupation table;

after the feedback of the team driving confirmation information to the active mobile unit, the method further comprises the following steps:

the route occupation table of the currently managed route section is updated.

In a third aspect, an embodiment of the present invention provides a group traveling apparatus for a mobile unit, which is applied to the mobile unit, and includes:

the information acquisition module is used for acquiring the driving route information of at least two mobile units;

a judging module for determining whether a team driving condition is satisfied based on the driving route information of at least two mobile units;

and the driving module is used for controlling at least two mobile units to travel in a team when the team traveling condition is met.

In a fourth aspect, an embodiment of the present invention provides a group traveling apparatus for a mobile unit, which is applied to a road host, and includes:

the receiving module is used for receiving a team driving request sent by the active mobile unit;

the judging and sending module is used for determining whether the team driving condition is met or not based on the route occupation information in the route interval;

In a fifth aspect, an embodiment of the present invention provides a computer apparatus, including:

a processor for implementing the steps of the group travel method for a mobile unit as described above when executing the computer program stored in the memory.

In a sixth aspect, embodiments of the present invention provide a computer-readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the steps of the group travel method for mobile units as described above.

From the above technical contents, it can be seen that the present invention has the following beneficial effects:

according to the technical scheme provided by the embodiment of the invention, whether the same part exists in the driving routes of the two mobile units is judged according to the driving route information of the two mobile units, and if the same part exists, the two mobile units can be judged to be driven in a team on the same driving road section. Because the two mobile units with the same driving route can be driven in a team, the safe driving of the two mobile units is ensured without setting a safe distance, so that the length of the driving road section for bearing the mobile units is increased, and the bearing capacity of the driving road section is obviously improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.

FIG. 1 is a flow chart illustrating a method for team traveling of mobile units according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a first driving route division according to an embodiment of the present invention;

fig. 3 is a schematic flow chart illustrating an active mobile unit acquiring driving route information of a passive mobile unit according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a second driving route division according to the embodiment of the present invention;

FIG. 5 is a flowchart illustrating a method for controlling the operation of at least two teams of mobile units according to an embodiment of the present invention;

fig. 6 is a flowchart illustrating an interaction method between an active mobile unit and a road host according to an embodiment of the present invention;

FIG. 7 is a schematic diagram illustrating a third driving route division according to an embodiment of the present invention;

FIG. 8 is a flowchart illustrating a second method for group traveling of mobile units according to an embodiment of the present invention;

fig. 9 is a block diagram of a group traveling apparatus of a mobile unit according to an embodiment of the present invention;

FIG. 10 is a block diagram of a mobile unit interacting with a road host according to an embodiment of the present invention;

fig. 11 is a block diagram of a second type of team traveling apparatus for a mobile unit according to an embodiment of the present invention;

fig. 12 is a block diagram illustrating a group traveling apparatus of a third mobile unit according to an embodiment of the present invention;

fig. 13 is a block diagram of a group traveling apparatus of a fourth mobile unit according to an embodiment of the present invention.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and examples. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. The specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention.

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

Aiming at the prior art, the rail car generally adopts a structure of one carriage or two carriages, and each row of overhead rail cars runs independently, so a certain safety distance needs to be kept between every two adjacent rows of rail cars. Therefore, multiple rows of railcars cannot be driven on one section of driving road section at the same time, and the problem of greatly reducing the bearing capacity of the driving road section exists. The technical scheme provided by the embodiment of the invention judges whether the driving routes of the two mobile units have the same part or not according to the driving route information of the two mobile units, and judges that the two mobile units can be grouped to drive on the same driving road section if the same part exists. Because the two mobile units with the same driving route can be driven in a team, the safe driving of the two mobile units is ensured without setting a safe distance, so that the length of the driving road section for bearing the mobile units is increased, and the bearing capacity of the driving road section is obviously improved. The technical scheme provided by the embodiment of the invention is particularly suitable for rail cars.

Specifically, in a first aspect, fig. 1 is a schematic flow chart of a team driving method for a mobile unit according to an embodiment of the present invention, where the method is applied to a mobile unit, and is particularly suitable for a rail car with a transportation function.

As shown in fig. 1, the method comprises the following steps:

s101, acquiring the driving route information of at least two mobile units;

in this step, in order to determine whether two mobile units can travel in a team, it is necessary to first acquire travel route information of the two mobile units, and then the following steps can be performed.

S102, determining whether a team driving condition is met or not based on the driving route information of at least two mobile units;

in this step, it may be determined whether the same portion exists in the travel routes of the two mobile units based on the travel route information of the two mobile units, and if the same portion exists, it may be determined that the two mobile units may travel in a team on the same travel section.

And S103, controlling at least two mobile units to travel in a team when the team traveling condition is met.

In this step, if the two mobile units satisfy the formation travel condition, the two mobile units perform formation travel at the start position of the same travel section until the two mobile units are disengaged after the end position of the same travel section. The specific team driving state can be initiated and controlled by one mobile unit to complete the whole team driving process, and when the same driving road section is reached, an initiator of team driving is integrated with another mobile unit by a method of combining computer software and a corresponding mechanical mechanism; when reaching the end position of the same travel section, the group-driving initiator is separated from another mobile unit by means of a combination of computer software and corresponding mechanical mechanisms.

According to the team driving method of the mobile units, whether the driving routes of the two mobile units have the same part or not is judged according to the driving route information of the two mobile units, and if the driving routes of the two mobile units have the same part, the two mobile units can be judged to be capable of being driven in a team on the same driving road section. Because the two mobile units with the same driving route can be driven in a team, the safe driving of the two mobile units is ensured without setting a safe distance, so that the length of the driving road section for bearing the mobile units is increased, and the bearing capacity of the driving road section is obviously improved. The technical scheme provided by the embodiment of the invention is particularly suitable for rail cars.

In some embodiments, the travel route information in the above step S101 includes at least one of route sections through which the travel route of the mobile unit passes and/or time information at which the mobile unit passes through each route section;

As shown in fig. 2, the travel route L is divided into a plurality of links, i.e., route sections/₁,l₂,...,l_n. The driving route is divided into a plurality of route sections, so that the two mobile units can be grouped to drive without completely identical driving routes, and the grouped driving can be carried out as long as part of the route sections in the driving routes of the two mobile units have identical parts, namely two mobile units have a certain road section which is commonly used, and the number of the identical route sections is larger than or equal to a first numerical value, so that the utilization rate of a transportation network caused by the grouped driving is improved. The whole driving road section is fully utilized by dividing the driving route into the route sections, and the bearing capacity of the driving road section is improved.

In order to avoid that the team driving may delay the time of the user's trip, the time difference between the two mobile units passing the same route section may be further set to control the occurrence of the team driving. That is, even if a part of the route sections of the traveling routes of the two mobile units have the same portion, if the difference between the times at which the two travel through the same route section is large, one of the mobile units that first reaches the same route section needs to wait for the other mobile unit for a long time, thereby delaying the time for the user to travel. Therefore, on the premise that the same part exists in a part of the route sections of the driving routes of the two mobile units, the time difference value of the two mobile units passing through the same route section can be further set to allow the team to drive, so that the time of the user for going out is prevented from being delayed.

In an embodiment of the invention, one of the two mobile units is an active mobile unit and the other of the two mobile units is controlled by the active mobile unit as a passive mobile unit. Embodiments of the present invention provide three ways to control the formation of two mobile units, which will be described in detail below:

for the first mode, in which interaction between the mobile unit and the road host is required, as shown in fig. 3, the active mobile unit obtains the driving route information of the passive mobile unit by the following method:

s301, the active mobile unit acquires route occupation information of a road host corresponding to a route section through which a driving route passes;

in this step, as shown in fig. 4, the travel route L is divided into a plurality of links, i.e., route sections l₁,l₂,...,l_nEach route section is respectively divided by the road host C₁,C₂,...C_nAnd (6) managing. The road host stores the route occupation information of the route section which is responsible for the road host, and the route occupation information comprises the occupation condition of each mobile unit of the route section which is responsible for the road host. The active mobile unit can acquire the travel route information of other mobile units by acquiring the route occupancy information to the road host.

S302, determining the driving route information of the passive mobile unit based on the route occupation information.

In this step, the active mobile unit may acquire the travel route information of other mobile units having the same route section as that in the travel route information thereof from the route occupancy information. And if the active mobile unit and one of the mobile units have the same route interval which is larger than or equal to the first value, and/or the time difference value of the active mobile unit and one of the mobile units passing through the same route interval is smaller than or equal to the first threshold value, determining that the active mobile unit can carry out formation driving with the mobile unit, and the mobile unit is a passive mobile unit. Since the team driving request is initiated by the active mobile unit, the entire team driving process is performed by the active mobile unit controlling the passive mobile unit.

That is, the first way is to complete the team driving through the interaction among the active mobile unit, the passive mobile unit, and the road host, and only if all the three permit, the team driving request of the active mobile unit can be allowed. Further, to meet the needs of each subscriber, a passive mobile unit may deny a fleet travel request from an active mobile unit if the user of the passive mobile unit wishes to arrive at the destination as quickly as possible according to the intended travel plan. On the other hand, if the route section corresponding to the road host is in the non-traffic peak period, the team driving can be rejected when the overall traffic efficiency cannot be improved obviously.

It should be noted that the first value and the first threshold in the embodiment of the present invention may be set according to actual requirements, and the embodiment of the present invention is not limited specifically.

Further, the first method can be divided into two cases, and the acquiring, by the active mobile unit, the route occupation information of the road host corresponding to the route section through which the driving route passes includes:

The active mobile unit in the embodiment of the invention can acquire the route occupation information from the road host in the route planning process and the driving process.

Aiming at the condition that an active mobile unit acquires route occupation information from a road host in the route planning process, the specific generation method of the candidate driving route comprises the following steps:

acquiring starting position information and end position information of a mobile unit;

in this step, the starting position is the current position of the mobile unit, e.g. at a. The end point location is the destination that the mobile unit plans to reach, e.g., location B. Therefore, the start position information may be specifically the coordinates of the a location, the end position information may be specifically the coordinates of the B location, the user may input the names of the a location and the B location through the navigation device on the mobile unit, or may directly select the positions of the a location and the B location on the map displayed by the interactive software, and the navigation device searches for the specific coordinates according to the names of the a location and the B location, which is not limited in the embodiment of the present invention.

Determining a candidate driving route of the mobile unit and a road host on the candidate driving route according to the initial position information and the end position information, wherein the candidate driving route comprises at least one route section, and the road host is in one-to-one correspondence with the route sections on the candidate driving route;

in this step, the candidate travel route is divided into a plurality of route sections, each of which is managed by a corresponding road host. After calculating the candidate driving route according to the coordinates of the starting position and the coordinates of the ending position, the navigation device on the mobile unit searches the road host corresponding to each route section on the candidate driving route.

After the road host corresponding to the route section on the candidate driving route is determined, the active mobile unit can send a passing request to the road host corresponding to the route section on the candidate driving route and receive the route occupation information of the corresponding route section returned by the road host.

In the case where the active mobile unit acquires the route occupancy information from the road host during traveling, the second case is different from the first case in that the active mobile unit has already traveled along the candidate travel route, and if the possibility of grouping with other mobile units is found by the road host during traveling, the active mobile unit can travel in a group with other mobile units.

It should be noted that, in the second case, since the active mobile unit is already in the process of traveling, the time reserved for the road host to determine whether the formation traveling condition is satisfied is reduced, and therefore, the road host may determine whether the formation traveling request of the active mobile unit satisfies the formation traveling condition only when the remaining distance of the traveling route of the active mobile unit is greater than or equal to the set distance, thereby avoiding the problems of logic errors and calculation resource waste of the road host caused by insufficient calculation time. In addition, if other mobile units are in the route planning state and meet the team driving condition, the mobile unit in the driving state is used as a passive mobile unit, and the mobile unit in the route planning state is used as an active mobile unit, so that the mobile unit in the route planning state is prevented from adjusting the route during driving, the calculation burden of a road host is increased, and the passing time of the mobile unit in the route planning state is influenced.

Aiming at the two situations, no matter the active mobile unit is in the process of route planning or in the process of driving, the active mobile unit can acquire the route occupation information from the road host and apply for formation driving with other mobile units, so that the utilization rate of the driving road section on time and space can be effectively improved, and the bearing capacity of the driving road section is improved.

For the second mode, interaction between two mobile units is required, and the active mobile unit acquires the driving route information of the passive mobile unit by the following modes:

In the second mode, the active mobile unit may send a communication signal to a neighboring mobile unit, the neighboring mobile unit may send its own driving route information to the active mobile unit after receiving the communication signal sent by the active mobile unit, the active mobile unit determines whether the formation driving is possible by judging whether the own driving route information and the driving route information of the neighboring mobile unit include the same route section, and sends a formation driving request to the road host, and if the road host judges that the formation driving is possible, the neighboring mobile unit serves as a passive mobile unit and receives the control of the active mobile unit.

It should be noted that, in the second method, the road host is still required to confirm whether the formation driving request meets the formation driving condition, but the active mobile unit does not need to acquire the driving route information of other mobile units through the road host, but directly acquires the driving route information from other mobile units, so that the information acquisition speed between the two mobile units can be increased, but if the distance between the two mobile units is long, the other mobile units may not receive the communication signal sent by the active mobile unit, and thus the formation driving cannot be realized. In this case, the first way may be chosen such that two mobile units may effect a team ride.

For the third mode, the mobile unit needs to interact with the road network control host, that is, all the driving route information of the mobile unit is stored in one road network control host, and the active mobile unit can acquire the driving route information of other mobile units from the road network control host and determine whether the active mobile unit can perform group driving with other mobile units.

Different from the first mode, the first mode is that the mobile units are dispatched through a plurality of road hosts, and each road host is responsible for dispatching of a certain road section of the whole traffic network, namely, the burden of dispatching the whole traffic network by adopting one dispatching center is reduced by adopting a distributed management mode. And because the scheduling tasks are distributed to a plurality of road hosts for processing, and each road host is responsible for a certain road section, each road section can be fully utilized. In addition, when a certain road host computer breaks down, the whole traffic transportation network can not be paralyzed, and the driving route can be re-planned through other road host computers which normally work.

Therefore, if the traffic flow of the transportation network is small, the host does not need to have a fast processing speed, and the burden is small, the mobile unit can be managed by one road network control host in the third mode; if the traffic network has a larger traffic flow, the first mode is more effective in managing the mobile unit than the third mode.

In some embodiments, as shown in fig. 5, controlling the at least two mobile units to travel in a fleet, when the fleet travel condition is met, includes:

s501, when the formation driving condition is met, determining formation driving road sections of at least two mobile units, wherein the formation driving road sections comprise at least one route section;

in this step, since the travel route of the mobile unit is divided into a plurality of route sections, if at least one identical route section exists in the route sections in the travel routes of two mobile units, it is described that the travel routes having the same portion exist in both, and the two mobile units can travel in a team.

It should be noted that the respective driving routes of the two mobile units may be adjusted under the condition of formation driving, and the two mobile units may perform operations such as formation, squad, and in-squad sequencing in the same route interval to optimize the respective driving routes, and may be adjusted according to actual requirements, which is not limited in the embodiment of the present invention.

And S502, controlling at least two mobile units to travel on the grouped travel road section in at least one route interval.

In this step, if two mobile units can be ganged to travel within a particular route section, then both can be ganged to travel at the start of reaching the same route section; when the terminal of the same route section is reached, the two are separated from the team driving state.

In some embodiments, based on the method shown in fig. 5, step S502 specifically includes:

The active mobile unit acts as the initiator of the team driving request, which can act as the controller during the whole team driving, and controls to be combined with the passive mobile unit at the start of the same route section and to be out of the queue at the end of the same route section.

In some embodiments, on the basis of the method shown in fig. 5, as shown in fig. 6, the method further includes:

s601, sending a team driving request to a road host corresponding to a route section included in a team driving road section;

in this step, the active mobile unit first sends a team driving request to a road host corresponding to a route section included in the team driving section, and the road host determines whether a team driving condition is satisfied.

And S602, receiving the team running confirmation information fed back by the road host.

In this step, only after the road host responds and returns the team traveling confirmation information, the active mobile unit and the passive mobile unit can travel in a team, so that the interactivity between the mobile unit and the road host and the management of the road host on the mobile unit are enhanced. In addition, if the active mobile unit does not obtain the response of the road host, which indicates that the road host may have a fault, the active mobile unit may also establish contact with other road hosts, so that the possibility of team formation driving and the bearing capacity of the driving road section can be effectively improved.

The formation travel section is the same route section in the travel routes of the two mobile units, and the formation travel can be performed only when at least one route section is the same in the travel routes of the two mobile units.

As shown in FIG. 7, route section l_iIs further divided into logical lanes l in the longitudinal direction extending along the route_i,1,l_i,2,...l_i,nAnd is further divided into logical lanes l in the transverse direction extending along the route_j,1,l_j,2,...l_j,n. The road host machine can accurately manage each logic lane in the route section. Since the road section is divided into logical lanes in both the longitudinal direction extending along the route and the lateral direction extending along the route, the logical lanes can be divided by the coordinates (i)_i,n,i_j,n) And carrying out accurate positioning so that the road host manages each logical lane.

Note that, the logical lane (i) therein_i，n，i_j，n) For the branched lane, unlike the prior art, the logical lane in the embodiment of the present invention adopts a structure that is not hard branched, and consists of a logical lane (i)_i，n，i_j，n) Logical Lane (i)_i，n，i_j，n) The combined line being a separately arranged line not intended for the purpose of a transfer of the mobile unitBut the mobile unit may go to the corresponding destination while passing through the logical lane.

Even if the travel routes of two mobile units exist in the same route section, the two mobile units may be located on different logical lanes of the same route section, in which case the team travel cannot be completed. Therefore, it is necessary to control one of the mobile units to switch the logical lanes so that the two mobile units are located on the same logical lane.

The stability of a mobile unit during travel affects the maximum travel speed of the mobile unit during travel. The length and the weight of the mobile unit in the team driving state are changed compared with those in the non-team driving state, so that the stability of the mobile unit in the driving process is obviously improved, and therefore the driving speed limit value of the mobile unit in the team driving state is larger than that of the mobile unit in the non-team driving state. The traveling speed limit value is improved by the mobile unit in the team traveling state, so that the traveling time of the user is effectively reduced.

In a second aspect, fig. 8 is a flowchart illustrating a method for team driving of mobile units according to an embodiment of the present invention, where the method is applied to a road host. As shown in fig. 8, the method comprises the following steps:

s801, receiving a team driving request sent by an active mobile unit;

in this step, the road host is responsible for managing the corresponding route section, and the occupation condition of the route section managed by each mobile unit for the road host is stored. If the active mobile unit needs to carry out team formation driving with other mobile units, a team formation driving request needs to be sent to the road host computer firstly, and the road host computer judges whether the team formation driving condition is met or not.

S802, determining whether a team driving request condition is met or not based on the route occupation information in the route interval;

in this step, after receiving the formation driving request sent by the active mobile unit, the road host may query the occupation status of the route sections that the active mobile unit and other mobile units are responsible for managing by the road host, and only when the same route sections exist in the driving routes of the active mobile unit and other mobile units, the road host satisfies the condition of the formation driving request.

And S803, if the result is satisfied, feeding back the formation traveling confirmation information to the active mobile unit.

In this step, if the same route section exists in the travel routes of the two mobile units, the condition of the team travel request is satisfied. At this time, the road host feeds back the formation driving confirmation information to the active mobile unit, and the active mobile unit can perform formation driving with other mobile units in a specific route section after receiving the formation driving confirmation information.

In the method for driving the two mobile units in a team according to the embodiment of the present invention, the road host determines whether the same portion exists in the driving routes of the two mobile units according to the driving route information of the two mobile units, and if the same portion exists, determines that the two mobile units can drive in the team on the same driving route. Because the two mobile units with the same driving route can be driven in a team, the safe driving of the two mobile units is ensured without setting a safe distance, so that the length of the driving road section for bearing the mobile units is increased, and the bearing capacity of the driving road section is obviously improved. The technical scheme provided by the embodiment of the invention is particularly suitable for rail cars.

In some embodiments, the route occupation information in step S802 includes at least one of route sections through which the driving route of the mobile unit passes and/or time information of each route section through which the mobile unit passes;

In some embodiments, the route occupancy information in step S802 further includes a logical lane in a route section occupied by the driving route of the mobile unit;

As shown in FIG. 7, route section l_iIs further divided into logical lanes l in the longitudinal direction extending along the route_i,1,l_i,2,...l_i,nAnd in a transverse direction extending along the pathFurther divided into logical lanes l_j,1,l_j,2,...l_j,n. The road host machine can accurately manage each logic lane in the route section. Since the road section is divided into logical lanes in both the longitudinal direction extending along the route and the lateral direction extending along the route, the logical lanes can be divided by the coordinates (i)_i,n,i_j,n) And carrying out accurate positioning so that the road host manages each logical lane.

Note that, the logical lane (i) therein_i，n，i_j，n) For the branched lane, unlike the prior art, the logical lane in the embodiment of the present invention adopts a structure that is not hard branched, and consists of a logical lane (i)_i，n，i_j，n) To logical lanes (i)_i，n，i_j，n) The composed route is a separately provided route, the purpose of which is not for the purpose of a derailment of the mobile unit, but the mobile unit can go to the corresponding destination when passing through the logical lane.

In some embodiments, the step of storing the route occupation information in a route occupation table further includes, after the step S803:

the route occupation table of the currently managed route section is updated.

In this step, the road host may generate a route occupancy table according to the route occupancy information, and the route occupancy table is used for storing the occupancy of each mobile unit to the currently managed route section. If the road host computer accepts the team driving request of the active mobile unit, the data in the route occupation table of the currently managed route section is updated so as to manage the currently managed route section and the mobile unit.

In a third aspect, fig. 9 is a block diagram of a group traveling apparatus for a mobile unit, which is applied to a mobile unit 100 and is particularly suitable for a rail car with a transportation function. As shown in fig. 9, includes:

an information obtaining module 110 for obtaining driving route information of at least two mobile units 100;

in order to determine whether the two mobile units can travel in a team, the information acquisition module is first required to acquire the travel route information of the two mobile units.

A determination module 120 for determining whether a team driving condition is satisfied based on the driving route information of at least two mobile units 100;

the judging module can judge whether the driving routes of the two mobile units have the same part or not according to the driving route information of the two mobile units, and if so, the judging module judges that the two mobile units can be driven in a team on the same driving road section.

And the driving module 130 is used for controlling at least two mobile units to travel in a team when the team traveling condition is met.

And if the two mobile units meet the formation driving condition, the driving module controls the mobile units to be at the initial positions of the same driving road section, and the two mobile units perform formation driving until the two mobile units are separated after the end positions of the same driving road section. The specific team driving state can be initiated and controlled by one mobile unit to complete the whole team driving process, and when the same driving road section is reached, an initiator of team driving is integrated with another mobile unit by a method of combining computer software and a corresponding mechanical mechanism; when reaching the end position of the same travel section, the group-driving initiator is separated from another mobile unit by means of a combination of computer software and corresponding mechanical mechanisms.

According to the group driving device of the mobile units provided by the embodiment of the invention, firstly, the information acquisition module is used for acquiring the driving route information of the two mobile units, then, the judgment module is used for judging whether the driving routes of the two mobile units have the same part, and if the driving routes of the two mobile units have the same part, the driving module is used for controlling the two mobile units to drive in a group on the same driving road section. Because the two mobile units with the same driving route can be driven in a team, the safe driving of the two mobile units is ensured without setting a safe distance, so that the length of the driving road section for bearing the mobile units is increased, and the bearing capacity of the driving road section is obviously improved. The technical scheme provided by the embodiment of the invention is particularly suitable for rail cars.

In some embodiments, the team driving method is performed by any one of at least two mobile units, the other mobile units except the active mobile unit being passive mobile units; or the method is executed by the road host corresponding to the route section passed by the driving routes of at least two mobile units; or, the method is executed by the road network control host.

for the first mode, as shown in fig. 10, in which interaction between the mobile unit 100 and the road host 200 is required, the active mobile unit 100a acquires the driving route information of the passive mobile unit 100b as follows:

the active mobile unit 100a acquires route occupation information of the road host 200 corresponding to a route section through which a driving route passes;

as shown in fig. 4, the travel route L is divided into a plurality of links, i.e., route sections/₁,l₂,...,l_nEach route section is respectively divided by the road host C₁,C₂,...C_nAnd (6) managing. The road host stores the route occupation information of the route section which is responsible for the road host, and the route occupation information comprises the occupation condition of each mobile unit of the route section which is responsible for the road host. The active mobile unit can acquire the travel route information of other mobile units by acquiring the route occupancy information to the road host.

The travel route information of the passive mobile unit 100b is determined based on the route occupancy information.

The active mobile unit may acquire travel route information of other mobile units having the same route section as that in the travel route information thereof from the route occupancy information. And if the active mobile unit and one of the mobile units have the same route interval which is larger than or equal to the first value, and/or the time difference value of the active mobile unit and one of the mobile units passing through the same route interval is smaller than or equal to the first threshold value, determining that the active mobile unit can carry out formation driving with the mobile unit, and the mobile unit is a passive mobile unit. Since the team driving request is initiated by the active mobile unit, the entire team driving process is performed by the active mobile unit controlling the passive mobile unit.

In some embodiments, the driving module 130 is specifically configured to:

determining a team travel section of at least two mobile units 100 when the team travel condition is satisfied, the team travel section including at least one route section;

since the traveling route of the mobile unit is divided into a plurality of route sections, if at least one identical route section exists in the route sections in the traveling routes of two mobile units, the traveling routes with the same part exist in the two traveling routes, and the two mobile units can travel in a team.

At least two mobile units 100 are controlled to travel in a formation over at least one route interval.

If two mobile units can be grouped for travel within a particular route interval, then both can be grouped for travel at the start of reaching the same route interval; when the terminal of the same route section is reached, the two are separated from the team driving state.

In some embodiments, controlling the at least two mobile units to travel the formation travel section within the at least one route interval is specifically:

In some embodiments, on the basis of the apparatus shown in fig. 9, as shown in fig. 11, the apparatus further includes:

a team formation request module 140, configured to send a team formation driving request to a road host 200 corresponding to a route section included in a team formation driving road segment;

the team formation request module in the active mobile unit sends a team formation driving request to a road host corresponding to a route section included in a team formation driving road section, and the road host judges whether a team formation driving condition is met.

The receiving module 150 is configured to receive the team driving confirmation information fed back by the road host 200.

The active mobile unit and the passive mobile unit can only form a group to run after the receiving module in the active mobile unit responds to the road host and returns the group running confirmation information, so that the interactivity between the mobile unit and the road host and the management of the road host to the mobile unit are enhanced. In addition, if the active mobile unit does not obtain the response of the road host, which indicates that the road host may have a fault, the active mobile unit may also establish contact with other road hosts, so that the possibility of team formation driving and the bearing capacity of the driving road section can be effectively improved.

In some embodiments, the driving module 130 controls at least two mobile units to travel in a team, including:

Note that, the logical lane (i) therein_i，n，i_j，n) For the branched lane, unlike the prior art, the logical lane in the embodiment of the present invention adopts a structure that is not hard branched, and consists of a logical lane (i)_i，n，i_j，n) Logical Lane (i)_i，n，i_j，n) The composed route is a separately provided route, the purpose of which is not for the purpose of a derailment of the mobile unit, but the mobile unit can go to the corresponding destination when passing through the logical lane.

In a fourth aspect, fig. 12 is a block diagram of a group traveling apparatus of a mobile unit according to an embodiment of the present invention, and the apparatus is applied to a road host 200. As shown in fig. 12, includes:

a receiving module 210, configured to receive a team driving request sent by the active mobile unit 100 a;

the road host is responsible for managing corresponding route sections, and the occupation condition of the route sections managed by each mobile unit for the road host is stored. If the active mobile unit needs to carry out team formation driving with other mobile units, a team formation driving request needs to be sent to the road host computer firstly, and the road host computer judges whether the team formation driving condition is met or not.

A judging and transmitting module 220, configured to determine whether a team driving request condition is satisfied based on the route occupation information in the route section;

after receiving the formation driving request sent by the active mobile unit, the road host can inquire the occupation condition of the route interval which is managed by the active mobile unit and other mobile units for the road host, and only when the same route interval exists in the driving routes of the active mobile unit and the other mobile units, the condition of the formation driving request is met.

If the result is satisfied, the team travel confirmation information is fed back to the active mobile unit 100 a.

In the formation driving device for the mobile units according to the embodiment of the present invention, the road host determines whether the driving routes of the two mobile units have the same portion according to the driving route information of the two mobile units, and if the driving routes of the two mobile units have the same portion, determines that the two mobile units can form a formation driving on the same driving route. Because the two mobile units with the same driving route can be driven in a team, the safe driving of the two mobile units is ensured without setting a safe distance, so that the length of the driving road section for bearing the mobile units is increased, and the bearing capacity of the driving road section is obviously improved. The technical scheme provided by the embodiment of the invention is particularly suitable for rail cars.

As shown in fig. 2, the travel route L is divided into a plurality of links, i.e., route sections/₁,l₂,...,l_n. The driving route is divided into a plurality of route sections, so that the two mobile units can be grouped to drive without completely identical driving routes, and as long as part of the route sections in the driving routes of the two mobile units have the same part, namely two mobile units have a certain road section commonly used, and the number of the identical route sections is larger than or equal to a first value, the transportation network utilization caused by the grouped driving is realizedThe rate is increased, and the team driving can be performed. The whole driving road section is fully utilized by dividing the driving route into the route sections, and the bearing capacity of the driving road section is improved.

In some embodiments, as shown in fig. 13, the team traveling apparatus of the mobile unit further includes:

the updating module 230 is configured to update the route occupancy table of the currently managed route section.

The road host can generate a route occupation table according to the route occupation information, and the route occupation table is used for storing the occupation condition of each mobile unit to the currently managed route section. If the road host computer accepts the team driving request of the active mobile unit, the updating module updates the data in the route occupation table of the currently managed route section so as to manage the currently managed route section and the mobile unit.

The processor may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the computer to perform desired functions.

The memory may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium and executed by a processor to implement the method steps of the various embodiments of the application described above and/or other desired functions.

In addition to the methods and apparatus described above, embodiments of the present application may also be a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the method steps of the various embodiments of the present application.

The computer program product may write program code for carrying out operations for embodiments of the present invention in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.

Furthermore, embodiments of the present application may also be a computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, cause the processor to perform the method steps of the various embodiments of the present application.

The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Those skilled in the art will appreciate that although some embodiments described herein include some features included in other embodiments instead of others, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments.

Those skilled in the art will appreciate that the description of each embodiment has a respective emphasis, and reference may be made to the related description of other embodiments for those parts of an embodiment that are not described in detail.

Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A method for team travel of a mobile unit, the method being applied to the mobile unit and comprising:

acquiring driving route information of at least two mobile units;

and controlling the at least two mobile units to travel in a team when the team traveling condition is met.

2. The method according to claim 1, characterized in that the driving route information comprises at least one of route sections traversed by a driving route of the mobile unit and/or time information of the mobile unit traversing each route section;

the team driving condition includes at least two mobile units having a same route interval greater than or equal to a first value, and/or a time difference for the at least two mobile units to pass the same route interval is less than or equal to a first threshold.

3. The method of claim 1, wherein the method is performed by any one of at least two mobile units, the other mobile units than the active mobile unit being passive mobile units; or the method is executed by the road host corresponding to the route section passed by the driving routes of at least two mobile units; alternatively, the method is executed by a road network control host.

4. The method of claim 3, wherein the active mobile unit obtains travel route information for a passive mobile unit by:

the active mobile unit acquires route occupation information of a road host corresponding to a route section through which a driving route passes;

determining travel route information for a passive mobile unit based on the route occupancy information.

5. The method of claim 4, wherein the obtaining of the route occupancy information of the road host corresponding to the route section through which the driving route of the active mobile unit passes comprises;

the active mobile unit sends a passing request to a road host corresponding to a route section on the candidate driving route in the route planning process, and receives route occupation information corresponding to the route section returned by the road host; or,

and the active mobile unit sends a passing request to a road host corresponding to a route section on the candidate running route in the running process, and receives route occupation information corresponding to the route section returned by the road host.

6. The method of claim 3, wherein the active mobile unit obtains travel route information for a passive mobile unit by:

the active mobile unit acquires the driving route information of the adjacent mobile unit by establishing communication connection with the adjacent mobile unit during driving.

7. The method of claim 3, wherein said controlling said at least two teams of mobile units to travel when said teaming travel condition is met comprises:

determining a team travel segment for the at least two mobile units when the team travel condition is met, the team travel segment including at least one route section;

controlling the at least two mobile units to travel in a formation travel segment within the at least one route interval.

8. The method of claim 7, wherein said controlling said at least two mobile units to travel in a team travel segment within said at least one route interval is specifically:

controlling, by the active mobile unit, at least two mobile units to travel in a fleet of travel segments within the at least one route interval.

9. The method of claim 7, further comprising:

sending a team driving request to a road host corresponding to a route section included in the team driving road section;

and receiving the team driving confirmation information fed back by the road host.

10. The method of claim 9, wherein the team travel path segments of all mobile units participating in the team travel are the same, or wherein the team travel path segment of at least one mobile unit participating in the team travel is different from the team travel path segments of other mobile units.

11. The method of claim 1, wherein said controlling said at least two teams of mobile units to travel comprises:

12. The method of claim 1, wherein the travel speed limit for the mobile unit in the fleet travel state is greater than the travel speed limit for the mobile unit in the non-fleet travel state.

13. A team driving method of a mobile unit is applied to a road host, and is characterized by comprising the following steps:

receiving a team driving request sent by an active mobile unit;

determining whether the team driving condition is satisfied based on route occupancy information within a route section;

and when the request is met, feeding back the formation driving confirmation information to the active mobile unit.

14. The method according to claim 13, wherein the route occupancy information comprises at least one of route sections traversed by a driving route of the mobile unit and/or time information of the mobile unit traversing each route section;

15. The method of claim 14, wherein the route occupancy information further includes logical lanes within a route interval occupied by a travel route of the mobile unit;

16. The method of claim 13, wherein the route occupancy information is stored in a route occupancy table;

after the feeding back the formation driving confirmation information to the active mobile unit, the method further comprises:

the route occupation table of the currently managed route section is updated.

17. A team travel apparatus for a mobile unit, the apparatus being applied to the mobile unit, the apparatus comprising:

a judging module for determining whether a team driving condition is satisfied based on the driving route information of the at least two mobile units;

and the driving module is used for controlling the at least two mobile units to be grouped for running when the grouping running condition is met.

18. A team traveling apparatus of a mobile unit applied to a road host, comprising:

19. A computer device, the computer device comprising:

a processor for implementing the steps of the method according to any one of claims 1 to 16 when executing a computer program stored in a memory.

20. A computer-readable storage medium having stored thereon computer instructions, which, when executed by a processor, carry out the steps of the method according to any one of claims 1 to 16.