CN111469838B

CN111469838B - Collaborative ACC/AEB decision management system based on Internet of vehicles and vehicle

Info

Publication number: CN111469838B
Application number: CN202010320595.4A
Authority: CN
Inventors: 梁涛年; 陈天任; 刘坤
Original assignee: Wuhu Bethel Automotive Safety Systems Co Ltd
Current assignee: Wuhu Bethel Automotive Safety Systems Co Ltd
Priority date: 2020-04-22
Filing date: 2020-04-22
Publication date: 2022-02-08
Anticipated expiration: 2040-04-22
Also published as: CN111469838A

Abstract

The invention aims to provide a collaborative ACC/AEB decision management system based on an internet of vehicles and a vehicle, wherein the internet of vehicles data and the data of a whole vehicle sensor are fused, so that the combined control of the internet of vehicles data and the data of the whole vehicle sensor on the vehicle under the condition of the internet of vehicles can be realized, the longitudinal control function of the vehicle can be realized, when the internet of vehicles data does not exist, the longitudinal control on the vehicle can be realized by adopting a whole vehicle sensor module, meanwhile, the advance detection of a front target can be realized by adopting the internet of vehicles data, the collision with a target behind a sheltering object can be avoided, the safety of the vehicle is improved, the economy of the energy utilization of the whole vehicle is improved, and the robustness and the stability of the system are improved by adopting the mutual checking work of two sets of sensor systems.

Description

Collaborative ACC/AEB decision management system based on Internet of vehicles and vehicle

Technical Field

The invention relates to the technical field of advanced auxiliary driving and intelligent driving, in particular to a collaborative ACC/AEB decision management system based on Internet of vehicles and a vehicle.

Background

In recent years, Advanced Driving Assistance Systems (ADAS) have gained increasing acceptance from host manufacturers and customers as a major item of five-star evaluation criteria for passenger vehicles, and automatic emergency braking systems are also being incorporated into vehicles as essential components of the vehicle. Advanced Driving Assistance Systems (ADAS) or intelligent driving have increasingly improved the safety and comfort of vehicles, and have greatly reduced the road vehicle accident rate, ensured the safety of personnel and property.

However, current ACC/AEB systems are based on the identification and detection of surrounding objects by onboard sensors. Although the vehicle-mounted sensor can realize the identification, classification, track establishment and ACC/AEB function of targets for surrounding objects, the visual angle of the sensor and the attribute of the sensor are limited, and other dangerous working conditions on a road are difficult to cover, such as the danger of a vehicle caused by a vehicle coming from a side direction during turning at a crossroad, the target difficult to accurately detect at an intersection blocked by an obstacle, and the identification of the targets such as a ghost probe difficult to accurately detect and prevent the dangerous working conditions.

Therefore, how to identify the target well under the condition that the vehicle-mounted sensor is shielded to obtain the motion information and the position information of the target is good, the method has great benefits for improving the coverage rate of an Advanced Driving Assistance System (ADAS) or intelligent driving on a road scene, and the occurrence rate of road traffic accidents can be further reduced.

Disclosure of Invention

In order to solve the problems, the invention provides a collaborative ACC/AEB decision management system based on an internet of vehicles and the vehicle, the position information and the motion information of vehicles and pedestrians running under the road working condition are obtained through the internet of vehicles, and the acceleration speed of the following vehicles and the braking speed and braking force of automatic emergency braking are calculated in real time by utilizing the information, so that the problems in the background technology are solved.

The invention aims to provide a collaborative ACC/AEB decision management system based on the Internet of vehicles, which comprises an Internet of vehicles data transceiver module, an Internet of vehicles data fusion module, a vehicle sensor data fusion module, a high-precision map module, an ACC/AEB decision module based on the Internet of vehicles, a power management control module and a vehicle dynamics and execution module;

the vehicle networking data transceiver module is connected with the vehicle networking data fusion module, peripheral vehicle data received by the vehicle networking are transmitted to the vehicle networking data fusion module, meanwhile, state information of the vehicle is sent out through the vehicle networking data transceiver module, and position information is sent out through the WiFi/GPS module; the vehicle networking data fusion module is respectively connected with the vehicle networking data transceiver module, the vehicle sensor module, the high-precision map module and the vehicle sensor data fusion module, receives target data, vehicle sensor data and sensor data fusion data on surrounding roads, and then further performs data fusion at the vehicle networking level; the vehicle sensor data fusion module is respectively connected with the vehicle sensor module, the ACC/AEB decision module based on the vehicle networking and the vehicle networking data fusion module, so that fusion of target data around the vehicle on a finished vehicle coordinate system is realized; an ACC/AEB decision module based on the internet of vehicles is respectively connected with a vehicle sensor data fusion module and a power management control module, the internet of vehicles data and the vehicle sensor data are fused on a vehicle coordinate system, and then a current control command of the vehicle is decided according to target data fused on the vehicle coordinate system and the driving state data of the vehicle; the power management control module is respectively connected with the ACC/AEB decision module and the vehicle dynamics and execution module based on the internet of vehicles, so that decision results are distributed and then respectively sent to the power unit and the brake unit, and meanwhile, the dynamics state of the vehicle is fed back to other modules on the upper layer.

The further improvement lies in that: the vehicle networking data transceiver module comprises a GPS transceiver unit and a WiFi transceiver unit.

The further improvement lies in that: the WiFi receiving and sending unit is connected with the Internet of vehicles data receiving and sending module and is used for receiving the position, speed and state parameters sent by the traffic basic equipment WiFi module, the vehicle WiFi/GPS module and the pedestrian WiFi/GPS module and sending the position, speed and state parameters to the Internet of vehicles data receiving and sending module; meanwhile, the WiFi transceiving unit sends the position, the speed, the acceleration, the direction, the braking force, the braking speed, the steering lamp state, the steering wheel angle information of the vehicle, the data of a vehicle inertial unit IMU (inertial Measurement unit), the state information of the vehicle, the driving intention information of a driver and the state information of the driver and the demand information of the vehicle to a traffic basic device WiFi module, a vehicle WiFi/GPS module and a pedestrian WiFi/GPS module; the GPS receiving and sending unit is connected with the Internet of vehicles data receiving and sending module and is used for receiving surrounding target positioning information sent by surrounding vehicle WiFi/GPS modules and pedestrian WiFi/GPS modules.

The further improvement lies in that: the data sent by the WiFi module of the traffic basic equipment to the vehicle networking data transceiver module comprises road speed limit information, crossroad traffic light state information, road state information, front road construction information and traffic prompt information; meanwhile, the WiFi module of the traffic basic equipment also forwards the information of vehicles far away from the front road, the information of a traffic control center, other traffic road condition information and the service information required by the vehicle.

The further improvement lies in that: the communication modes used by WiFi in the traffic basic equipment WiFi module, the vehicle WiFi/GPS module and the pedestrian WiFi/GPS module are one or more of 5G, 6G and IEEE 802.11 communication protocol communication modes.

The further improvement lies in that: the vehicle WiFi/GPS module, the pedestrian WiFi/GPS module and the GPS in the GPS receiving and transmitting unit comprise a differential GPS and a Beidou satellite positioning system.

The further improvement lies in that: the vehicle WiFi/GPS module is installed on the vehicle or other vehicles running on the road, and sends the position, the speed, the acceleration, the direction, the braking force, the braking speed, the steering lamp state, the vehicle steering wheel angle information, the data of the vehicle inertial unit IMU, the vehicle state information, the driver driving intention information, the driver state information and the vehicle demand information of the vehicle and other vehicles on the road to the other WiFi/GPS module.

The further improvement lies in that: the GPS information transmitted by the pedestrian WiFi/GPS module received by the GPS receiving and transmitting unit comprises the position, the speed, the direction and the state information of the pedestrian transmitted by the pedestrian wearable equipment or the mobile phone GPS; the GPS receiving and sending module can also receive the position, speed, direction and state information of surrounding vehicles sent by the vehicle WiFi module; the relative distance information and the accurate time value of the vehicle and the surrounding vehicles are calculated through the position information, the position relations of the vehicles, the pedestrians carrying the mobile phone and the pedestrians of the wearable equipment on the road are determined, and the positioning among the vehicle, the surrounding vehicles and the pedestrians is achieved.

The further improvement lies in that: the vehicle networking data fusion module is used for receiving data input by the vehicle networking data transceiver module, the high-precision map module, the vehicle sensor module and the vehicle sensor data fusion module, further fusing target information of the vehicle networking, target information around the vehicle acquired by the vehicle sensor module and target information output by the vehicle sensor data fusion module, and realizing target classification, position positioning, speed and acceleration calibration, state information check and target running track calculation; meanwhile, the direction and the position information of the vehicle are further accurately positioned according to the data of the WiFi module of the traffic basic equipment, the GPS data and the data of the high-precision map, and the accurate positioning information and the state information of the vehicle are sent out through the WiFi module.

The further improvement lies in that: the vehicle sensor module comprises one or more of a millimeter wave radar sensor, a laser radar sensor, a camera and an ultrasonic sensor.

The further improvement lies in that: the millimeter wave radar sensor comprises one or more of a millimeter wave forward radar sensor, a millimeter wave backward radar sensor, a millimeter wave BSD radar sensor, a millimeter wave LCA radar sensor and a millimeter wave point cloud radar sensor related to the millimeter wave autonomous parking sensor.

The further improvement lies in that: the cameras include one or more of a monocular forward camera, a binocular forward camera, a monocular backward camera, a binocular backward camera, a stereo camera, an infrared camera with which the surround view camera is associated, and a combination between a plurality of cameras.

The further improvement lies in that: the vehicle sensor data fusion module receives data of the vehicle sensor module, the vehicle connection data fusion module and the vehicle dynamics perception module, and achieves target tracking, target fusion, target track establishment, target track fusion among different sensors, target track management, AEB road condition situation prediction and analysis and ACC target selection according to the data, and decision basis data are provided for the ACC/AEB decision module based on the vehicle networking.

The further improvement lies in that: when the vehicle can not receive the vehicle networking data on the road, the vehicle networking data fusion module does not provide the data for the vehicle sensor data fusion module, and the vehicle sensor fusion module independently uses the data of the vehicle sensor module and the vehicle dynamics sensing module to realize target tracking, target fusion, target track establishment, target track fusion among different sensors, target track management, AEB road condition situation prediction and analysis and ACC target selection, and provides decision basis data for the ACC/AEB decision module based on the vehicle networking.

The further improvement lies in that: the ACC/AEB decision module based on the Internet of vehicles comprises a forward anti-collision early warning (FCW), a constant speed cruise (CC), an Adaptive Cruise Control (ACC) and an Automatic Emergency Braking (AEB) functional unit, and further comprises a cooperative adaptive forward anti-collision early warning (CFCW), a cooperative adaptive cruise (CACC) and a Cooperative Automatic Emergency Braking (CAEB) functional unit based on the Internet of vehicles, wherein the control units are successively called and cooperatively work according to working conditions and are integrated in one controller.

The further improvement lies in that: (1) when the vehicle can not receive the vehicle networking signal, the ACC/AEB decision module based on the vehicle networking receives the vehicle sensor module, performs multi-sensor data in the vehicle sensor data fusion module, performs decision making according to the data of the vehicle sensor data fusion module, and calls a forward collision avoidance early warning (FCW), adaptive cruise (ACC) and Automatic Emergency Braking (AEB) function unit to work to realize the running on the vehicle road; (2) when the vehicle can receive the data of the internet of vehicles and the data of the sensor of the vehicle at the same time, the ACC/AEB decision module based on the internet of vehicles decides the data of the data fusion module of the sensor of the vehicle, and at the moment, the functional units of cooperative adaptive forward collision avoidance early warning (CFCW), Cooperative Adaptive Cruise Control (CACC) and Cooperative Automatic Emergency Braking (CAEB) are called to work to control the vehicle to run on the road.

The further improvement lies in that: when the cooperative adaptive forward collision avoidance early warning (CFCW) and the Cooperative Adaptive Cruise Control (CACC) are in an operating state, when a front vehicle is found to be provided with a vehicle networking WiFi/GPS transceiver module, the vehicle networking transceiver sends a request for adding the cooperative adaptive cruise control to the front vehicle networking module, and simultaneously, a command of the vehicle requesting to add the CACC control module is displayed on a front vehicle HMI (human Machine interface), if a driver of the front vehicle allows the vehicle to add the CACC cruise control mode, driver permission command information is returned to the vehicle and is displayed on the HMI of the vehicle; if the driver of the front vehicle does not allow the vehicle to be added into the CACC cooperative adaptive cruise control mode, the vehicle adopts the data sent by the vehicle sensor module, and becomes a system of the combination of FCW, ACC and AEB with the traditional longitudinal control function.

The further improvement lies in that: the host vehicle sends a command for adding the coordinated ACC control to the front vehicle, and the coordinated ACC control can be realized by a front vehicle responder, or the coordinated CACC control can be automatically realized without the response of the front vehicle.

The further improvement lies in that: the vehicle networking data transceiver module can enable the vehicle to be in an intelligent navigation collaborative ACC (Smart lead CACC) node, leads other vehicles to realize collaborative self-adaptive CACC control, can also be used as a following node, realizes following collaborative ACC (Smart follow CACC) function by following a front vehicle through the vehicle networking, the switching of the leading and following functions is determined according to road environment and nodes added into the vehicle networking, the following collaborative CACC node can be a leading CACC node of a next following collaborative CACC vehicle, and thus a queue CACC function between two or more vehicles can be formed.

The further improvement lies in that: the calculation of the control parameters of the cooperative adaptive forward collision avoidance early warning (CFCW) and the Cooperative Adaptive Cruise Control (CACC) is that the vehicle speed, the acceleration, the braking speed and the braking intensity which are sent by the leading front vehicle and the information parameters of the position of the front vehicle which are obtained by the GPS are used, after the control parameters are received by the vehicle, the distance between the vehicles is calculated by combining the motion state parameters of the vehicle and the parameters of the vehicle-mounted sensor of the vehicle, and the TTC time, the acceleration value and the deceleration value are calculated.

The further improvement lies in that: the following time interval between the following vehicle and the leading vehicle is obtained by measuring the distance of a radar sensor arranged on the vehicle and calculating the acceleration and deceleration value of the vehicle so as to realize the purpose that the following time interval reaches the set following time interval.

The further improvement lies in that: when the cooperative adaptive forward collision avoidance early warning (CFCW) receives the braking state and braking intensity information of a leading vehicle from a following vehicle and the ACC speed acceleration of the following vehicle is 2-3 m/s, the following vehicle sends out an FCW early warning instruction to inform a driver of the vehicle that the danger and the state of the leading vehicle are changed.

The further improvement lies in that: the constant speed Cruise Control (CC), the Adaptive Cruise Control (ACC) and the Coordinated Adaptive Cruise Control (CACC) have the following control logic relations: when the speed of the leading vehicle is higher than the speed of the following vehicle during constant-speed cruising, the following vehicle disconnects the CACC control function of the cooperative cruising with the leading vehicle, and the following vehicle runs at the speed set by the following vehicle and enters a constant-speed cruising (CC) mode to work; when the internet of vehicles module of the leading vehicle is in fault or the internet of vehicles is blocked and the internet of vehicles data of the front vehicle or the surrounding vehicles can not be received in real time, the vehicle works by depending on the data output by the vehicle sensor module and enters the working state of the conventional Adaptive Cruise Control (ACC); when a leading vehicle (Smart lead CACC) encounters a vehicle without an Internet of vehicles module installed in front of the leading vehicle during driving, the leading vehicle enters a normal CC state, but the following vehicle is still in an ACC state.

The further improvement lies in that: when a camera of the vehicle sensor module captures a speed limit sign or the internet of vehicles data transceiver module receives road speed limit sign information during driving, the CACC or ACC functional module automatically adjusts the speed of the vehicle and drives at a specified speed.

The further improvement lies in that: the coordinated adaptive cruise (CACC) function can realize the adjustment of the speed of the vehicle according to the red and green light information of the front crossroad and the road congestion information sent by the WiFi module of the traffic infrastructure and the speed information of the vehicle.

The further improvement lies in that: the cooperative adaptive forward collision avoidance early warning (CFCW) and the Cooperative Automatic Emergency Braking (CAEB) use GPS position information, speed information, acceleration information and steering wheel corner information sent by road vehicles, the host vehicle receives information sent by surrounding target vehicles and combines state parameters of the running of the host vehicle to judge the contact ratio of the running track of the surrounding vehicles and the running track of the host vehicle, and calculates TTC (time to collision) time between the host vehicle and the surrounding vehicles, so that the functions of forward collision avoidance early warning and automatic emergency braking (CAEB) of the vehicles based on the internet of vehicles are realized under the condition that sensors at intersections, obstacles sheltering intersections and curves of the host vehicle are difficult to cover.

The further improvement lies in that: the cooperative adaptive forward collision avoidance early warning (CFCW) and the Cooperative Automatic Emergency Braking (CAEB) can calculate the positions and the tracks of pedestrians, bicycles or motorcycles and the vehicle according to GPS position information and speed information sent by a person walking on a road, a mobile phone carried by a person riding a bicycle or a motorcycle or wearable equipment or information sent by the wearable equipment, and then calculate the contact ratio with the future running track of the vehicle by combining the motion information of the vehicle, calculate the TTC time between the vehicle and the pedestrians, the bicycles or the motorcycles and the vehicle, and realize the forward collision avoidance early warning and the automatic emergency braking function for the pedestrians under the emergency condition.

The further improvement lies in that: the power management control module reasonably distributes and manages the acceleration and the braking of the vehicle mainly according to the working condition, sends an acceleration instruction to the vehicle power unit according to the working condition and sends a braking instruction to the braking system.

The further improvement lies in that: the vehicle dynamics and execution module comprises an HMI unit, a Sensor unit, a power unit and a brake system; the Sensor unit comprises a vehicle wheel speed Sensor, an IMU Sensor, a steering wheel angle Sensor and a master cylinder pressure Sensor; the power unit comprises an electric drive motor, a hydrogen energy source drive device and a fuel engine.

The invention further provides a vehicle, the collaborative ACC/AEB decision management system based on the Internet of vehicles is adopted, the collaborative ACC/AEB and the conventional ACC/AEB are switched under different working condition scenes through Internet of vehicles data, and the longitudinal control parameters comprise deceleration, acceleration and braking force.

The above english abbreviations are as follows:

advanced Driver Assistance System (ADAS)

ACC-Adaptive Cruise Control

AEB-Automatic Emergency Brake

FCW-Forward Collision Warning Forward

CFCW-Cooperative Forward Collision Warning

CACC-Cooperative Adaptive Cruise Control Cooperative Adaptive Control

CAEB-Cooperative Automatic Emergency Brake

CC-Cruise Control constant speed Cruise

IMU-Inertial Measurement Unit

GPS-Global Positioning System

WiFi-Wireless Fidelity Wireless local area network

BSD-Blind Spot Detection Blind Spot Detection

LCA-Lane Change Assistant for Lane Change Assistant

HMI-Human Machine Interface Human-Machine Interface

TTC-Time to Collision event

The invention has the beneficial effects that: the invention utilizes the data of the vehicle networking and the data of the whole vehicle sensor to fuse, can realize the combined control of the vehicle networking data and the data of the whole vehicle sensor under the condition of the vehicle networking, realizes the longitudinal control function of the vehicle, can adopt the whole vehicle sensor module to realize the longitudinal control of the vehicle when the data of the vehicle networking does not exist, and can realize the advance detection of the front target by adopting the data of the vehicle networking at the same time, and simultaneously avoid the collision with the target behind a shelter, thereby improving the safety of the vehicle, improving the economy of the energy utilization of the whole vehicle, simultaneously improving the mutual checking work of two sets of sensor systems, and improving the robustness and the stability of the system.

Drawings

FIG. 1 is a system block diagram of the present invention.

Detailed Description

For the purpose of enhancing understanding of the present invention, the present invention will be further described in detail with reference to the following examples, which are provided for illustration only and are not to be construed as limiting the scope of the present invention.

As shown in fig. 1, the present embodiment provides a collaborative ACC/AEB decision management system based on the internet of vehicles, which includes an internet of vehicles data transceiver module, an internet of vehicles data fusion module, a vehicle sensor data fusion module, a high-precision map module, an ACC/AEB decision module based on the internet of vehicles, a power management control module, and a vehicle dynamics and execution module;

The vehicle networking data transceiver module comprises a GPS transceiver unit and a WiFi transceiver unit.

The WiFi receiving and sending unit is connected with the Internet of vehicles data receiving and sending module and is used for receiving the position, speed and state parameters sent by the traffic basic equipment WiFi module, the vehicle WiFi/GPS module and the pedestrian WiFi/GPS module and sending the position, speed and state parameters to the Internet of vehicles data receiving and sending module; meanwhile, the WiFi transceiving unit sends the position, the speed, the acceleration, the direction, the braking force, the braking speed, the steering lamp state, the steering wheel angle information of the vehicle, the data of a vehicle inertial unit IMU (inertial Measurement unit), the state information of the vehicle, the driving intention information of a driver and the state information of the driver and the demand information of the vehicle to a traffic basic device WiFi module, a vehicle WiFi/GPS module and a pedestrian WiFi/GPS module; the GPS receiving and sending unit is connected with the Internet of vehicles data receiving and sending module and is used for receiving surrounding target positioning information sent by surrounding vehicle WiFi/GPS modules and pedestrian WiFi/GPS modules.

The data sent by the WiFi module of the traffic basic equipment to the vehicle networking data transceiver module comprises road speed limit information, crossroad traffic light state information, road state information, front road construction information and traffic prompt information; meanwhile, the WiFi module of the traffic basic equipment also forwards the information of vehicles far away from the front road, the information of a traffic control center, other traffic road condition information and the service information required by the vehicle.

The vehicle WiFi/GPS module is installed on the vehicle or other vehicles running on the road, and sends the position, the speed, the acceleration, the direction, the braking force, the braking speed, the steering lamp state, the vehicle steering wheel angle information, the data of the vehicle inertial unit IMU, the vehicle state information, the driver driving intention information, the driver state information and the vehicle demand information of the vehicle and other vehicles on the road to the other WiFi/GPS module.

The GPS information transmitted by the pedestrian WiFi/GPS module received by the GPS receiving and transmitting unit comprises the position, the speed, the direction and the state information of the pedestrian transmitted by the pedestrian wearable equipment or the mobile phone GPS; the GPS receiving and sending module can also receive the position, speed, direction and state information of surrounding vehicles sent by the vehicle WiFi module; the relative distance information and the accurate time value of the vehicle and the surrounding vehicles are calculated through the position information, the position relations of the vehicles, the pedestrians carrying the mobile phone and the pedestrians of the wearable equipment on the road are determined, and the positioning among the vehicle, the surrounding vehicles and the pedestrians is achieved.

The vehicle networking data fusion module is used for receiving data input by the vehicle networking data transceiver module, the high-precision map module, the vehicle sensor module and the vehicle sensor data fusion module, further fusing target information of the vehicle networking, target information around the vehicle acquired by the vehicle sensor module and target information output by the vehicle sensor data fusion module, and realizing target classification, position positioning, speed and acceleration calibration, state information check and target running track calculation; meanwhile, the direction and the position information of the vehicle are further accurately positioned according to the data of the WiFi module of the traffic basic equipment, the GPS data and the data of the high-precision map, and the accurate positioning information and the state information of the vehicle are sent out through the WiFi module.

The vehicle sensor data fusion module receives data of the vehicle sensor module, the vehicle connection data fusion module and the vehicle dynamics perception module, and achieves target tracking, target fusion, target track establishment, target track fusion among different sensors, target track management, AEB road condition situation prediction and analysis and ACC target selection according to the data, and decision basis data are provided for the ACC/AEB decision module based on the vehicle networking.

When the vehicle can not receive the vehicle networking data on the road, the vehicle networking data fusion module does not provide the data for the vehicle sensor data fusion module, and the vehicle sensor fusion module independently uses the data of the vehicle sensor module and the vehicle dynamics sensing module to realize target tracking, target fusion, target track establishment, target track fusion among different sensors, target track management, AEB road condition situation prediction and analysis and ACC target selection, and provides decision basis data for the ACC/AEB decision module based on the vehicle networking.

The ACC/AEB decision module based on the Internet of vehicles comprises a forward anti-collision early warning (FCW), a constant speed cruise (CC), an Adaptive Cruise Control (ACC) and an Automatic Emergency Braking (AEB) functional unit, and further comprises a cooperative adaptive forward anti-collision early warning (CFCW), a cooperative adaptive cruise (CACC) and a Cooperative Automatic Emergency Braking (CAEB) functional unit based on the Internet of vehicles, wherein the control units are successively called and cooperatively work according to working conditions and are integrated in one controller.

(1) When the vehicle can not receive the vehicle networking signal, the ACC/AEB decision module based on the vehicle networking receives the vehicle sensor module, performs multi-sensor data in the vehicle sensor data fusion module, performs decision making according to the data of the vehicle sensor data fusion module, and calls a forward collision avoidance early warning (FCW), adaptive cruise (ACC) and Automatic Emergency Braking (AEB) function unit to work to realize the running on the vehicle road; (2) when the vehicle can receive the data of the internet of vehicles and the data of the sensor of the vehicle at the same time, the ACC/AEB decision module based on the internet of vehicles decides the data of the data fusion module of the sensor of the vehicle, and at the moment, the functional units of cooperative adaptive forward collision avoidance early warning (CFCW), Cooperative Adaptive Cruise Control (CACC) and Cooperative Automatic Emergency Braking (CAEB) are called to work to control the vehicle to run on the road.

When the cooperative adaptive forward collision avoidance early warning (CFCW) and the Cooperative Adaptive Cruise Control (CACC) are in an operating state, when a front vehicle is found to be provided with a vehicle networking WiFi/GPS transceiver module, the vehicle networking transceiver sends a request for adding the cooperative adaptive cruise control to the front vehicle networking module, and simultaneously, a command of the vehicle requesting to add the CACC control module is displayed on a front vehicle HMI (human Machine interface), if a driver of the front vehicle allows the vehicle to add the CACC cruise control mode, driver permission command information is returned to the vehicle and is displayed on the HMI of the vehicle; if the driver of the front vehicle does not allow the vehicle to be added into the CACC cooperative adaptive cruise control mode, the vehicle adopts the data sent by the vehicle sensor module, and becomes a system of the combination of FCW, ACC and AEB with the traditional longitudinal control function.

The host vehicle sends a command for adding the coordinated ACC control to the front vehicle, and the coordinated ACC control can be realized by a front vehicle responder, or the coordinated CACC control can be automatically realized without the response of the front vehicle.

The calculation of the control parameters of the cooperative adaptive forward collision avoidance early warning (CFCW) and the Cooperative Adaptive Cruise Control (CACC) is that the vehicle speed, the acceleration, the braking speed and the braking intensity which are sent by the leading front vehicle and the information parameters of the position of the front vehicle which are obtained by the GPS are used, after the control parameters are received by the vehicle, the distance between the vehicles is calculated by combining the motion state parameters of the vehicle and the parameters of the vehicle-mounted sensor of the vehicle, and the TTC time, the acceleration value and the deceleration value are calculated.

The following time interval between the following vehicle and the leading vehicle is obtained by measuring the distance of a radar sensor arranged on the vehicle and calculating the acceleration and deceleration value of the vehicle so as to realize the purpose that the following time interval reaches the set following time interval.

When the cooperative adaptive forward collision avoidance early warning (CFCW) receives the braking state and braking intensity information of a leading vehicle from a following vehicle and the ACC speed acceleration of the following vehicle is 2-3 m/s, the following vehicle sends out an FCW early warning instruction to inform a driver of the vehicle that the danger and the state of the leading vehicle are changed.

The constant speed Cruise Control (CC), the Adaptive Cruise Control (ACC) and the Coordinated Adaptive Cruise Control (CACC) have the following control logic relations: when the speed of the leading vehicle is higher than the speed of the following vehicle during constant-speed cruising, the following vehicle disconnects the CACC control function of the cooperative cruising with the leading vehicle, and the following vehicle runs at the speed set by the following vehicle and enters a constant-speed cruising (CC) mode to work; when the internet of vehicles module of the leading vehicle is in fault or the internet of vehicles is blocked and the internet of vehicles data of the front vehicle or the surrounding vehicles can not be received in real time, the vehicle works by depending on the data output by the vehicle sensor module and enters the working state of the conventional Adaptive Cruise Control (ACC); when a leading vehicle (Smart lead CACC) encounters a vehicle without an Internet of vehicles module installed in front of the leading vehicle during driving, the leading vehicle enters a normal CC state, but the following vehicle is still in an ACC state.

When a camera of the vehicle sensor module captures a speed limit sign or the internet of vehicles data transceiver module receives road speed limit sign information during driving, the CACC or ACC functional module automatically adjusts the speed of the vehicle and drives at a specified speed.

The coordinated adaptive cruise (CACC) function can realize the adjustment of the speed of the vehicle according to the red and green light information of the front crossroad and the road congestion information sent by the WiFi module of the traffic infrastructure and the speed information of the vehicle.

The cooperative adaptive forward collision avoidance early warning (CFCW) and the Cooperative Automatic Emergency Braking (CAEB) use GPS position information, speed information, acceleration information and steering wheel corner information sent by road vehicles, the host vehicle receives information sent by surrounding target vehicles and combines state parameters of the running of the host vehicle to judge the contact ratio of the running track of the surrounding vehicles and the running track of the host vehicle, and calculates TTC (time to collision) time between the host vehicle and the surrounding vehicles, so that the functions of forward collision avoidance early warning and automatic emergency braking (CAEB) of the vehicles based on the internet of vehicles are realized under the condition that sensors at intersections, obstacles sheltering intersections and curves of the host vehicle are difficult to cover.

The cooperative adaptive forward collision avoidance early warning (CFCW) and the Cooperative Automatic Emergency Braking (CAEB) can calculate the positions and the tracks of pedestrians, bicycles or motorcycles and the vehicle according to GPS position information and speed information sent by a person walking on a road, a mobile phone carried by a person riding a bicycle or a motorcycle or wearable equipment or information sent by the wearable equipment, and then calculate the contact ratio with the future running track of the vehicle by combining the motion information of the vehicle, calculate the TTC time between the vehicle and the pedestrians, the bicycles or the motorcycles and the vehicle, and realize the forward collision avoidance early warning and the automatic emergency braking function for the pedestrians under the emergency condition;

the power management control module is mainly used for reasonably distributing and managing the acceleration and the braking of the vehicle according to the working condition, sending an acceleration instruction to a vehicle power unit according to the working condition and sending a braking instruction to a braking system;

the vehicle dynamics and execution module comprises an HMI unit, a Sensor unit, a power unit and a brake system; the Sensor unit comprises a vehicle wheel speed Sensor, an IMU Sensor, a steering wheel angle Sensor and a master cylinder pressure Sensor; the power unit comprises an electric drive motor, a hydrogen energy source drive device and a fuel engine.

The embodiment also provides a vehicle, which adopts the collaborative ACC/AEB decision management system based on the Internet of vehicles as described above, and collaborates the switching of the ACC/AEB and the conventional ACC/AEB under different working condition scenes through Internet of vehicles data, wherein the longitudinal control parameters comprise deceleration, acceleration and braking force.

The above english abbreviations are as follows:

advanced Driver Assistance System (ADAS)

ACC-Adaptive Cruise Control

AEB-Automatic Emergency Brake

FCW-Forward Collision Warning Forward

CFCW-Cooperative Forward Collision Warning

CACC-Cooperative Adaptive Cruise Control Cooperative Adaptive Control

CAEB-Cooperative Automatic Emergency Brake

CC-Cruise Control constant speed Cruise

IMU-Inertial Measurement Unit

GPS-Global Positioning System

WiFi-Wireless Fidelity Wireless local area network

BSD-Blind Spot Detection Blind Spot Detection

LCA-Lane Change Assistant for Lane Change Assistant

HMI-Human Machine Interface Human-Machine Interface

TTC-Time to Collision event

Utilize the data of car networking data and whole car sensor to fuse, can realize under the condition that has the car networking, car networking data and whole car sensor data are to the joint control of vehicle, realize the vertical control function of vehicle, when not having car networking data, can adopt whole car sensor module to realize the vertical control to the vehicle, adopt car networking data can realize exploring the place ahead target in advance simultaneously, avoid colliding with the target that shelters from behind the thing simultaneously, the security of vehicle has been improved, the economy of the energy utilization of whole car has been improved, the mutual check-up work of two sets of sensor systems simultaneously, the robustness and the stability of system have been improved.

As shown in FIG. 1, the collaborative ACC/AEB decision management system based on the Internet of vehicles comprises an Internet of vehicles data transceiver module, an Internet of vehicles data fusion module, a vehicle sensor data fusion module, an ACC/AEB decision module based on the Internet of vehicles and a power management control module.

Aiming at the problems that the conventional ACC/AEB system cannot completely realize interactive cooperative control with the Internet of vehicles and cannot realize the cooperative control of the Internet of vehicles and the conventional ACC/AEB, the invention provides the technical scheme of the cooperative ACC/AEB decision management system based on the Internet of vehicles. The invention combines the data of the Internet of vehicles on the basis of the traditional ACC/AEB control system, fuses the target information data obtained by the Internet of vehicles and the sensor data obtained by the vehicle sensor module, and sends the fused data result to the decision module, thereby realizing the mutual conversion and cooperative work between the ACC/AEB and the CACC/CAEB under different working conditions and scenes, improving the adaptability of the vehicle to the road conditions and the working conditions, and further improving the comfort, the safety and the intelligent level of the ACC/AEB system.

1. Data receiving and transmitting module for Internet of vehicles

The vehicle networking data transceiver module comprises a GPS transceiver unit and a WiFi transceiver unit, and is used for transmitting position, speed and state parameters which are transmitted by a traffic basic equipment WiFi module, a vehicle WiFi/GPS module and a pedestrian WiFi/GPS module to the vehicle networking data transceiver module; meanwhile, the position, the speed, the acceleration, the direction, the braking force, the braking speed, the state of a steering lamp, the steering wheel angle information of the vehicle, the data of an inertial unit IMU (inertial measurement Unit) of the vehicle, the state information of the vehicle, the driving intention information of a driver, the state information of the driver and the requirement information of the vehicle are sent to a WiFi (wireless fidelity) module of traffic basic equipment, a WiFi/GPS (wireless fidelity/global positioning system) module of the vehicle and a WiFi/GPS module of a pedestrian;

meanwhile, the traffic infrastructure WiFi module also sends road speed limit information, crossroad traffic light state information, road state information, front road construction information and traffic prompt information to the vehicle networking data transceiver module;

2. data fusion module of Internet of vehicles

The vehicle networking data fusion module is used for receiving data input by the vehicle networking data transceiver module, the high-precision map module, the vehicle sensor module and the vehicle sensor data fusion module, further fusing target information of the vehicle networking, target information around the vehicle acquired by the vehicle sensor module and target information output by the vehicle sensor data fusion module, and realizing target classification, position positioning, speed and acceleration calibration, state information check and target running track calculation; meanwhile, the direction and the position information of the vehicle are further accurately positioned according to the data of the WiFi module of the traffic basic equipment, the GPS data and the data of the high-precision map, and the accurate positioning information and the state information of the vehicle are sent out through the WiFi unit;

3. vehicle sensor module

The vehicle sensor module comprises one or more of a millimeter wave radar sensor, a laser radar sensor, a camera and an ultrasonic sensor;

the millimeter wave radar sensor comprises one or more of a millimeter wave forward radar sensor, a millimeter wave backward radar sensor, a millimeter wave BSD radar sensor, a millimeter wave LCA radar sensor and a millimeter wave point cloud radar sensor related to the millimeter wave autonomous parking sensor;

the camera comprises one or more of a monocular forward camera, a binocular forward camera, a monocular backward camera, a double-faced backward camera, a stereo camera and an infrared camera related to the stereo camera;

4. vehicle sensor data fusion module

The vehicle sensor data fusion module receives data of the vehicle sensor module, the vehicle connection data fusion module and the vehicle dynamics sensing module, and when the vehicle networking data can be normally received, the vehicle sensor data fusion module realizes target tracking, target fusion, target track establishment, target track fusion among different sensors, target track management, AEB road working condition situation prediction and data analysis according to the vehicle networking data, the whole vehicle sensor data and the data of the vehicle dynamics sensing module;

when the vehicle can not receive the vehicle networking data on the road, the vehicle networking data fusion module does not provide the data for the vehicle sensor data fusion module, and the vehicle sensor fusion module independently uses the data of the vehicle sensor module and the vehicle dynamics sensing module to realize target tracking, target fusion, target track establishment, target track fusion among different sensors, target track management, AEB road condition situation prediction and analysis and ACC target selection, and provides decision basis data for the ACC/AEB decision module based on the vehicle networking;

5. ACC/AEB decision module based on Internet of vehicles

The ACC/AEB decision module based on the Internet of vehicles comprises forward anti-collision early warning (FCW), constant speed cruising (CC), Adaptive Cruise Control (ACC) and Automatic Emergency Braking (AEB) functional units based on a vehicle sensor, and also comprises cooperative adaptive forward anti-collision early warning (CFCW), cooperative adaptive cruise (CACC) and Cooperative Automatic Emergency Braking (CAEB) functional units based on the Internet of vehicles;

(1) when the vehicle cannot receive the vehicle networking signal, the vehicle sensor module and the vehicle sensor provide data for the data fusion module, decision is made according to the data of the fusion module, and then a forward collision avoidance early warning (FCW), an adaptive cruise (ACC) and an Automatic Emergency Braking (AEB) function unit is called to work according to the working condition and the road condition, so that safe driving on a vehicle road is realized; (2) when the vehicle can receive the data of the internet of vehicles and the data of the sensor of the vehicle at the same time, the ACC/AEB decision module based on the internet of vehicles decides the data received from the data fusion module of the sensor of the vehicle, and then calls the functional units of cooperative adaptive forward anti-collision early warning (CFCW), cooperative adaptive cruise (CACC) and Cooperative Automatic Emergency Braking (CAEB) to work according to the data of the internet of vehicles, so that the safe running of the vehicle under the data communication of the internet of vehicles is realized.

When the fact that the front vehicle is provided with the internet of vehicles WiFi transceiving module is found, the internet of vehicles data transceiving module sends a cooperative cruise joining request to the front internet of vehicles module, meanwhile, a command that the front vehicle requests to join the CACC control module is displayed on the HMI of the front vehicle, and if the driver of the front vehicle allows the front vehicle to join the CACC cruise control mode, driver permission command information is returned to the front vehicle and is displayed on the HMI of the front vehicle. If the driver of the front vehicle does not allow the vehicle to be added into the CACC cooperative self-adaptive cruise control mode, the vehicle exits from a system of the combination of FCW, ACC and AEB with the traditional longitudinal control function by adopting the data sent by the vehicle sensor module;

if the vehicle sends a command for adding the coordinated ACC control to the front vehicle and the front vehicle is set to be in a non-response mode, the vehicle is automatically accessed, and the vehicle can automatically realize the coordinated CACC control;

when the vehicle is at an intelligent navigation cooperative ACC (Smart lead CACC) node, other vehicles are led to realize cooperative adaptive CACC control, the vehicle can also be used as a following node, the following cooperative ACC (Smart follow CACC) function is realized by following a front vehicle through the Internet of vehicles, the switching of the leading and following functions is determined according to the road environment and the node added into the Internet of vehicles, and the following cooperative CACC node can be a leading CACC node of the next following cooperative CACC vehicle, so that the queue CACC function between two or more vehicles can be formed;

after the vehicle receives the control parameters, the distance between vehicles is calculated by combining the motion state parameters of the vehicle and the vehicle-mounted sensor parameters of the vehicle, and the TTC time, the acceleration value and the deceleration strip value are calculated, so that the cooperative adaptive forward collision avoidance early warning (CFCW) and the Cooperative Adaptive Cruise Control (CACC) can be realized;

when the following vehicle receives the braking state and braking intensity information of the leading vehicle and the ACC speed acceleration of the following vehicle is 2-3 m/s, the following vehicle sends out a CFCW early warning instruction to inform a driver of the following vehicle that the danger and the state of the leading vehicle are changed;

when the speed of the leading vehicle is higher than the speed of the following vehicle during constant-speed cruising, the following vehicle disconnects the CACC control function of the cooperative cruising with the leading vehicle, and the following vehicle runs at the speed set by the following vehicle and enters a constant-speed cruising (CC) mode to work; when the internet of vehicles module of the leading vehicle is in fault or the internet of vehicles is blocked and the internet of vehicles data of the front vehicle or the surrounding vehicles can not be received in real time, the vehicle works by depending on the data output by the vehicle sensor module and enters the working state of the conventional Adaptive Cruise Control (ACC); when a leading vehicle (Smart lead CACC) encounters a vehicle without an Internet of vehicles module installed in the front in the driving process, the leading vehicle enters a conventional CC state, but a following vehicle is still in an ACC state;

when a camera of the vehicle sensor module captures a speed limit sign or the internet of vehicles data transceiver module receives road speed limit sign information, the CACC or ACC functional module automatically adjusts the vehicle speed and drives at a specified speed;

when the traffic infrastructure WiFi module sends the red and green light information of the front crossroad and the road congestion information, the CACC can adjust the speed of the vehicle according to the speed information of the vehicle;

when a road vehicle receives information sent by a surrounding target vehicle through GPS position information, speed information, acceleration information and steering wheel corner information sent by a WiFi module of the internet of vehicles, the vehicle judges the contact ratio of the running track of the surrounding vehicle and the running track of the vehicle by combining the running state parameters of the vehicle, calculates TTC time between the vehicle and the surrounding vehicle, and realizes the automatic emergency braking (CAEB) function based on the internet of vehicles under the condition that a vehicle sensor is difficult to cover at an intersection, an obstacle sheltering intersection and a curve;

when the vehicle receives the position information and the speed information sent by the mobile phone or the wearable equipment carried by people walking on the road, people riding a bicycle or a motorcycle, the vehicle calculates the positions and the tracks of the pedestrians, the bicycles or the motorcycles and the vehicle by combining the motion information of the vehicle, calculates the contact ratio with the future running track of the vehicle, calculates the TTC time between the vehicle and the pedestrians, the bicycles or the motorcycles and the vehicle, and realizes the function of Cooperative Automatic Emergency Braking (CAEB) in emergency;

6. power management control module

7. vehicle dynamics and execution module

Claims

1. A collaborative ACC/AEB decision management system based on Internet of vehicles is characterized in that: the system comprises an internet of vehicles data transceiver module, an internet of vehicles data fusion module, a vehicle sensor data fusion module, a high-precision map module, an ACC/AEB decision module based on the internet of vehicles, a power management control module and a vehicle dynamics and execution module;

2. The collaborative internet vehicle-based ACC/AEB decision management system according to claim 1, characterized by: the vehicle networking data transceiver module comprises a GPS transceiver unit and a WiFi transceiver unit.

3. The collaborative internet-of-vehicles based ACC/AEB decision management system according to claim 2, characterized by: the WiFi receiving and sending unit is connected with the Internet of vehicles data receiving and sending module and is used for receiving the position, speed and state parameters sent by the traffic basic equipment WiFi module, the vehicle WiFi/GPS module and the pedestrian WiFi/GPS module and sending the position, speed and state parameters to the Internet of vehicles data receiving and sending module; meanwhile, the WiFi transceiving unit sends the position, the speed, the acceleration, the direction, the braking force, the braking speed, the steering lamp state, the steering wheel angle information of the vehicle, the data of a vehicle inertial unit IMU (inertial Measurement unit), the state information of the vehicle, the driving intention information of a driver and the state information of the driver and the demand information of the vehicle to a traffic basic device WiFi module, a vehicle WiFi/GPS module and a pedestrian WiFi/GPS module; the GPS receiving and sending unit is connected with the Internet of vehicles data receiving and sending module and is used for receiving surrounding target positioning information sent by surrounding vehicle WiFi/GPS modules and pedestrian WiFi/GPS modules.

4. The collaborative internet-of-vehicles based ACC/AEB decision management system according to claim 3, characterized by: the data sent by the WiFi module of the traffic basic equipment to the vehicle networking data transceiver module comprises road speed limit information, crossroad traffic light state information, road state information, front road construction information and traffic prompt information; meanwhile, the WiFi module of the traffic basic equipment also forwards the information of vehicles far away from the front road, the information of a traffic control center, other traffic road condition information and the service information required by the vehicle.

5. The collaborative internet-of-vehicles based ACC/AEB decision management system according to claim 3, characterized by: the communication modes used by WiFi in the traffic basic equipment WiFi module, the vehicle WiFi/GPS module and the pedestrian WiFi/GPS module are one or more of 5G, 6G and IEEE 802.11 communication protocol communication modes.

6. The collaborative internet-of-vehicles based ACC/AEB decision management system according to claim 3, characterized by: the vehicle WiFi/GPS module, the pedestrian WiFi/GPS module and the GPS in the GPS receiving and transmitting unit comprise a differential GPS and a Beidou satellite positioning system.

7. The collaborative internet-of-vehicles based ACC/AEB decision management system according to claim 3, characterized by: the vehicle WiFi/GPS module is installed on the vehicle or other vehicles running on the road, and sends the position, the speed, the acceleration, the direction, the braking force, the braking speed, the steering lamp state, the vehicle steering wheel angle information, the data of the vehicle inertial unit IMU, the vehicle state information, the driver driving intention information, the driver state information and the vehicle demand information of the vehicle and other vehicles on the road to the other WiFi/GPS module.

8. The collaborative internet-of-vehicles based ACC/AEB decision management system according to claim 3, characterized by: the GPS information transmitted by the pedestrian WiFi/GPS module received by the GPS receiving and transmitting unit comprises the position, the speed, the direction and the state information of the pedestrian transmitted by the pedestrian wearable equipment or the mobile phone GPS; the GPS receiving and sending module can also receive the position, speed, direction and state information of surrounding vehicles sent by the vehicle WiFi module; the relative distance information and the accurate time value of the vehicle and the surrounding vehicles are calculated through the position information, the position relations of the vehicles, the pedestrians carrying the mobile phone and the pedestrians of the wearable equipment on the road are determined, and the positioning among the vehicle, the surrounding vehicles and the pedestrians is achieved.

9. The collaborative internet vehicle-based ACC/AEB decision management system according to claim 1, characterized by: the vehicle networking data fusion module is used for receiving data input by the vehicle networking data transceiver module, the high-precision map module, the vehicle sensor module and the vehicle sensor data fusion module, further fusing target information of the vehicle networking, target information around the vehicle acquired by the vehicle sensor module and target information output by the vehicle sensor data fusion module, and realizing target classification, position positioning, speed and acceleration calibration, state information check and target running track calculation; meanwhile, the direction and the position information of the vehicle are further accurately positioned according to the data of the WiFi module of the traffic basic equipment, the GPS data and the data of the high-precision map, and the accurate positioning information and the state information of the vehicle are sent out through the WiFi module.

10. The collaborative internet vehicle-based ACC/AEB decision management system according to claim 1, characterized by: the vehicle sensor module comprises one or more of a millimeter wave radar sensor, a laser radar sensor, a camera and an ultrasonic sensor.

11. The collaborative internet vehicle-based ACC/AEB decision management system according to claim 10, wherein: the millimeter wave radar sensor comprises one or more of a millimeter wave forward radar sensor, a millimeter wave backward radar sensor, a millimeter wave BSD radar sensor, a millimeter wave LCA radar sensor and a millimeter wave autonomous parking sensor.

12. The collaborative internet vehicle-based ACC/AEB decision management system according to claim 10, wherein: the cameras comprise one or more of a monocular forward camera, a binocular forward camera, a monocular backward camera, a binocular backward camera, a stereo camera and a panoramic camera.

13. The collaborative internet vehicle-based ACC/AEB decision management system according to claim 1, characterized by: the vehicle sensor data fusion module receives data of the vehicle sensor module, the vehicle connection data fusion module and the vehicle dynamics perception module, and achieves target tracking, target fusion, target track establishment, target track fusion among different sensors, target track management, AEB road condition situation prediction and analysis and ACC target selection according to the data, and decision basis data are provided for the ACC/AEB decision module based on the vehicle networking.

14. The collaborative internet vehicle-based ACC/AEB decision management system according to claim 1 or 13, wherein: when the vehicle can not receive the vehicle networking data on the road, the vehicle networking data fusion module does not provide the data for the vehicle sensor data fusion module, and the vehicle sensor fusion module independently uses the data of the vehicle sensor module and the vehicle dynamics sensing module to realize target tracking, target fusion, target track establishment, target track fusion among different sensors, target track management, AEB road condition situation prediction and analysis and ACC target selection, and provides decision basis data for the ACC/AEB decision module based on the vehicle networking.

15. The collaborative internet vehicle-based ACC/AEB decision management system according to claim 1 or 13, wherein: the ACC/AEB decision module based on the Internet of vehicles comprises a forward anti-collision early warning (FCW), a constant speed cruise (CC), an Adaptive Cruise Control (ACC) and an Automatic Emergency Braking (AEB) functional unit, and further comprises a cooperative adaptive forward anti-collision early warning (CFCW), a Cooperative Adaptive Cruise Control (CACC) and a Cooperative Automatic Emergency Braking (CAEB) functional unit based on the Internet of vehicles, wherein the control units are gradually called and cooperatively work according to working conditions and are integrated in one controller.

16. The collaborative internet vehicle-based ACC/AEB decision management system according to claim 15, wherein: (1) when the vehicle can not receive the vehicle networking signal, the ACC/AEB decision module based on the vehicle networking receives the vehicle sensor module, performs multi-sensor data in the vehicle sensor data fusion module, performs decision making according to the data of the vehicle sensor data fusion module, and calls a forward collision avoidance early warning (FCW), adaptive cruise (ACC) and Automatic Emergency Braking (AEB) function unit to work to realize the running on the vehicle road; (2) when the vehicle can receive the data of the internet of vehicles and the data of the sensor of the vehicle at the same time, the ACC/AEB decision module based on the internet of vehicles decides the data of the data fusion module of the sensor of the vehicle, and at the moment, the functional units of cooperative adaptive forward collision avoidance early warning (CFCW), Cooperative Adaptive Cruise Control (CACC) and Cooperative Automatic Emergency Braking (CAEB) are called to work to control the vehicle to run on the road.

17. The collaborative internet vehicle-based ACC/AEB decision management system according to claim 15, wherein: when the cooperative adaptive forward collision avoidance early warning (CFCW) and the Cooperative Adaptive Cruise Control (CACC) are in an operating state, when a front vehicle is found to be provided with a vehicle networking WiFi/GPS transceiver module, the vehicle networking transceiver sends a request for adding the cooperative adaptive cruise control to the front vehicle networking module, and simultaneously, a command of the vehicle requesting to add the CACC control module is displayed on a front vehicle HMI (human Machine interface), if a driver of the front vehicle allows the vehicle to add the CACC cruise control mode, driver permission command information is returned to the vehicle and is displayed on the HMI of the vehicle; if the driver of the front vehicle does not allow the vehicle to be added into the CACC cooperative adaptive cruise control mode, the vehicle adopts the data sent by the vehicle sensor module, and becomes a system of the combination of FCW, ACC and AEB with the traditional longitudinal control function.

18. The collaborative internet vehicle-based ACC/AEB decision management system according to claim 17, wherein: the host vehicle sends a command for adding the coordinated ACC control to the front vehicle, and the coordinated ACC control can be realized by a front vehicle responder, or the coordinated CACC control can be automatically realized without the response of the front vehicle.

19. The collaborative internet vehicle-based ACC/AEB decision management system according to claim 15, wherein: the vehicle networking data transceiver module can enable the vehicle to be in an intelligent navigation collaborative ACC (Smart lead CACC) node, leads other vehicles to realize collaborative self-adaptive CACC control, can also be used as a following node, realizes following collaborative ACC (Smart follow CACC) function by following a front vehicle through the vehicle networking, the switching of the leading and following functions is determined according to road environment and nodes added into the vehicle networking, the following collaborative CACC node can be a leading CACC node of a next following collaborative CACC vehicle, and thus a queue CACC function between two or more vehicles can be formed.

20. The collaborative internet vehicle-based ACC/AEB decision management system according to claim 17, wherein: the calculation of the control parameters of the cooperative adaptive forward collision avoidance early warning (CFCW) and the Cooperative Adaptive Cruise Control (CACC) is that the vehicle speed, the acceleration, the braking speed and the braking intensity which are sent by the leading front vehicle and the information parameters of the position of the front vehicle which are obtained by the GPS are used, after the control parameters are received by the vehicle, the distance between the vehicles is calculated by combining the motion state parameters of the vehicle and the parameters of the vehicle-mounted sensor of the vehicle, and the TTC time, the acceleration value and the deceleration value are calculated.

21. The collaborative internet vehicle-based ACC/AEB decision management system according to claim 20, wherein: the following time interval between the following vehicle and the leading vehicle is obtained by measuring the distance of a radar sensor arranged on the vehicle and calculating the acceleration and deceleration value of the vehicle so as to realize the purpose that the following time interval reaches the set following time interval.

22. The collaborative internet vehicle-based ACC/AEB decision management system according to claim 20, wherein: when the cooperative adaptive forward collision avoidance early warning (CFCW) receives the braking state and braking intensity information of a leading vehicle from a following vehicle and the ACC speed acceleration of the following vehicle is 2-3 m/s, the following vehicle sends out an FCW early warning instruction to inform a driver of the vehicle that the danger and the state of the leading vehicle are changed.

23. The collaborative internet vehicle-based ACC/AEB decision management system according to claim 15, wherein: the constant speed Cruise Control (CC), the Adaptive Cruise Control (ACC) and the Coordinated Adaptive Cruise Control (CACC) have the following control logic relations: when the speed of the leading vehicle is higher than the speed of the following vehicle during constant-speed cruising, the following vehicle disconnects the CACC control function of the cooperative cruising with the leading vehicle, and the following vehicle runs at the speed set by the following vehicle and enters a constant-speed cruising (CC) mode to work; when the internet of vehicles module of the leading vehicle is in fault or the internet of vehicles is blocked and the internet of vehicles data of the front vehicle or the surrounding vehicles can not be received in real time, the vehicle works by depending on the data output by the vehicle sensor module and enters the working state of the conventional Adaptive Cruise Control (ACC); when a leading vehicle (Smart lead CACC) encounters a vehicle without an Internet of vehicles module installed in front of the leading vehicle during driving, the leading vehicle enters a normal CC state, but the following vehicle is still in an ACC state.

24. The collaborative internet vehicle-based ACC/AEB decision management system according to claim 15, wherein: when the speed limit sign is captured by a camera of the vehicle sensor module or the road speed limit sign information is received by the internet of vehicles data transceiver module in the driving process of the Coordinated Adaptive Cruise Control (CACC) functional unit, the CACC or ACC functional module automatically adjusts the speed of the vehicle and drives at the specified speed.

25. The collaborative internet vehicle-based ACC/AEB decision management system according to claim 15, wherein: the coordinated adaptive cruise (CACC) function can realize the adjustment of the speed of the vehicle according to the red and green light information of the front crossroad and the road congestion information sent by the WiFi module of the traffic infrastructure and the speed information of the vehicle.

26. The collaborative internet vehicle-based ACC/AEB decision management system according to claim 15, wherein: the cooperative adaptive forward collision avoidance early warning (CFCW) and the Cooperative Automatic Emergency Braking (CAEB) use GPS position information, speed information, acceleration information and steering wheel corner information sent by road vehicles, the host vehicle receives information sent by surrounding target vehicles and combines state parameters of the running of the host vehicle to judge the contact ratio of the running track of the surrounding vehicles and the running track of the host vehicle, and calculates TTC (time to collision) time between the host vehicle and the surrounding vehicles, so that the functions of the forward collision avoidance early warning and the Cooperative Automatic Emergency Braking (CAEB) of the vehicles based on the internet of vehicles are realized under the condition that sensors at intersections, obstacles sheltering the intersections and curves of the host vehicle are difficult to cover.

27. The collaborative internet vehicle-based ACC/AEB decision management system according to claim 15, wherein: the cooperative adaptive forward collision avoidance early warning (CFCW) and the Cooperative Automatic Emergency Braking (CAEB) can calculate the positions and the tracks of pedestrians, bicycles or motorcycles and the vehicle according to GPS position information and speed information sent by a person walking on a road, a mobile phone carried by a person riding a bicycle or a motorcycle or wearable equipment or information sent by the wearable equipment, and then calculate the contact ratio with the future running track of the vehicle by combining the motion information of the vehicle, calculate the TTC time between the vehicle and the pedestrians, the bicycles or the motorcycles and the vehicle, and realize the forward collision avoidance early warning and the automatic emergency braking function for the pedestrians under the emergency condition.

28. The collaborative internet vehicle-based ACC/AEB decision management system according to claim 15, wherein: the power management control module reasonably distributes and manages the acceleration and the braking of the vehicle mainly according to the working condition, sends an acceleration instruction to the vehicle power unit according to the working condition and sends a braking instruction to the braking system.

29. The collaborative internet vehicle-based ACC/AEB decision management system according to claim 1, characterized by: the vehicle dynamics and execution module comprises an HMI unit, a Sensor unit, a power unit and a brake system; the Sensor unit comprises a vehicle wheel speed Sensor, an IMU Sensor, a steering wheel angle Sensor and a master cylinder pressure Sensor; the power unit comprises an electric drive motor, a hydrogen energy source drive device and a fuel engine.

30. A vehicle, characterized in that: the system for collaborative internet vehicle-based ACC/AEB decision management according to any one of claims 1 to 29, wherein the longitudinal control parameters include deceleration, acceleration and braking force in conjunction with switching between ACC/AEB and conventional ACC/AEB under different operating condition scenarios through internet data.