CN111984019A - V2X communication-based hybrid fleet control system and method - Google Patents
V2X communication-based hybrid fleet control system and method Download PDFInfo
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Abstract
The invention relates to the technical field of intelligent networked automobiles, and aims to provide a V2X communication-based hybrid fleet control system and a V2X communication-based hybrid fleet control method, wherein, the communication between vehicles in the system is realized through a V2X technology, a controller of the vehicle can be unmanned or manned, the functions of the fleet comprise fleet construction, vehicle joining, control right transfer and vehicle leaving, the fleet construction message is sent by a fleet controller, a standard vehicle is sent for entering into a fleet, after the vehicle to be joined is selected to be joined into a specific position of the fleet, parameters such as the distance between vehicles before and after joining the position, the speed and the like are determined, the parameters of the members are adjusted to be joined into the fleet, wherein, the members in the fleet can be applied to become new controllers of the fleet, when the members accord with the judgment standard of a fleet master, the members become the new fleet master, and when the number of vehicles in the fleet changes, the vehicles in the fleet can adjust the corresponding speed and distance.
Description
Technical Field
The invention relates to the technical field of intelligent networked automobiles, in particular to a hybrid fleet control system and method based on V2X communication.
Background
The vehicle queue driving refers to Cooperative Adaptive Cruise Control (CACC), a plurality of vehicles form a queue by means of identification and judgment of sensors of the vehicles, driving routes are kept consistent, and the method is an economical and efficient mode for saving energy and improving driving safety.
The control of hybrid vehicles cannot be solved during the existing vehicle queue running, unmanned vehicles and manned vehicles cannot be uniformly regulated, the relevance among all vehicles in a fleet is poor, the queue of the fleet cannot be regulated according to the requirement of each vehicle, and the fleet cannot make adaptive regulation according to newly-added vehicles and departing vehicles.
In the existing scheme, parameters such as the speed of a front vehicle, the distance between the vehicle and the front vehicle and the like are detected by using a medium-distance radar, and the method is only suitable for an environment with driving. With the continuous development of society, more and more unmanned vehicles can be provided, and the coexistence of manned driving and unmanned driving can be realized in the intelligent traffic environment, the invention provides a hybrid fleet control method based on V2X communication in the unmanned and unmanned coexistence environment.
Disclosure of Invention
The invention aims to provide a hybrid fleet control system and a hybrid fleet control method based on V2X communication, which realize direct two-way communication between unmanned vehicles by using a V2X technology, and the method comprises 4 functions: the invention has reasonable structure and is suitable for popularization.
The technical scheme adopted by the invention is as follows: a hybrid fleet control method based on V2X communication, comprising the steps of: step 1: a motorcade initiator initiates a V2X message for building a motorcade to surrounding vehicles, the motorcade initiator counts and processes a received enqueue application sent by a vehicle to be added, wherein the V2X message contains the operation data of the vehicle of the motorcade initiator, the enqueue application contains the operation data of the vehicle to be added, and the step 2 is executed;
step 2: combining the set motorcade length and the received enqueuing application by a motorcade initiator, executing the step 7 when the number of the vehicles reaches the set motorcade length, and executing the step 3 when the number of the vehicles does not reach the set motorcade length;
and step 3: the motorcade initiator continues to send a V2X message for building the motorcade to surrounding vehicles, a vehicle to be added which is sent to a team application independently selects the position of the motorcade after receiving an application agreement message sent by the motorcade initiator, the vehicle to be added executes preparation work for adding the motorcade and adds the vehicle to the position of the motorcade based on the determined position of the motorcade after the vehicle to be added autonomously selects the position of the motorcade, the motorcade initiator updates the position information of the motorcade and executes the step 1;
and 4, step 4: when member vehicles of the fleet send out and become the master controller of the fleet to apply for, the master controller of the fleet judges according to the application and changes the master controller of the fleet, if the member vehicle accords with the judging standard changing the master controller of the fleet, carry out step 5, if the member vehicle does not accord with the judging standard changing the master controller of the fleet, carry out step 6, wherein, when the fleet is being built, the sponsor of the fleet defines as the master controller of the fleet, the master controller of the fleet has control right of the fleet;
and 5: the current motorcade master controller sends an application message for agreeing to change the motorcade master controller to the member vehicle, the current motorcade master controller transfers the motorcade control right to the member vehicle and updates the motorcade message, the control right of the motorcade is changed, and the step 4 is executed;
step 6: the current fleet master controller sends an application message of disappointing the replacement of the fleet master controller to the member vehicle, and the current fleet master controller continues to execute the fleet control right and executes the step 4;
and 7: the motorcade initiator sends a disagreement application message to the vehicles to be joined, the motorcade initiator stops sending a V2X message for building the motorcade to the surrounding vehicles, the motorcade building is completed, and the process is finished.
Preferably, in step 1, the vehicle includes a manned vehicle and an unmanned vehicle, the controller of the vehicle is a driver for the manned vehicle, and the controller of the vehicle is an automatic control system for the unmanned vehicle, wherein the vehicles are communicated with each other based on the V2X technology, the running data of the vehicle includes a running speed, a geographical position, and a feature code of the vehicle, and the feature code is a VIN code of the vehicle and is used to represent vehicle-specific identity information.
Preferably, in step 2, the length of the fleet is the maximum number of vehicles that can be allowed to exist in the fleet, the fleet master processes one enqueue application at a time, and a maximum number of single vehicles to be added in the processing result of each enqueue master is allowed to join the fleet.
Preferably, the step 3, when performing the autonomous selection of the fleet position, comprises the following steps:
step 31: after the joining vehicle receives the agreement application message of the vehicle initiator, if the joining position of the joining vehicle is the head or the tail of the fleet, executing step 34; if the joining position is not the head or tail of the motorcade, executing step 32;
step 32: whether the front fleet member vehicle of the joining vehicle seeking the joining position agrees to join the joining vehicle to the position or not is judged, if yes, step 33 is executed, and if not, step 37 is executed;
step 33: whether the rear fleet member vehicles of the joining vehicle soliciting joining position agree to join the joining vehicle in the position or not is judged, if yes, step 34 is executed, and if not, step 37 is executed;
step 34: whether the fleet master agrees to join the joining vehicle to the location, if yes, go to step 35, if not, go to step 37;
step 35: a motorcade master controller sends a vehicle distance adjusting message, a vehicle to be joined and member vehicles adjust the vehicle distance, whether the vehicle distance of the position to be joined meets the vehicle merging requirement is judged according to the geographical position sent by the vehicle to be joined, if yes, step 36 is executed, if not, the vehicle distance is continuously adjusted, and step 35 is executed;
step 36: the autonomous selection of the fleet position is completed;
step 37: the fleet master sends a message to the joining vehicle selecting a new joining location and, based on the selected new joining location, performs step 32.
Preferably, in the step 4, the judgment criteria for replacing the fleet master includes the following steps:
step 41: when the member vehicles of the fleet apply for becoming the fleet master, the fleet master judges the controllers of the member vehicles, if the controllers of the member vehicles are drivers or automatic control systems, step 42 is executed, and if the controllers of the member vehicles are neither drivers nor automatic control systems, step 45 is executed;
step 42: judging whether the current speed of the member vehicle meets the requirement, if so, executing a step 43, and if not, executing a step 45;
step 43: judging whether the current inter-vehicle distance of the member vehicle meets the requirement, if so, executing a step 44, and if not, executing a step 45;
step 44: executing the step 5;
step 45: step 6 is performed.
Preferably, the vehicles are all provided with a whole vehicle control program, the whole vehicle control program acquires behavior data of the vehicles, the behavior data comprises the speed of the vehicles, the distance between the vehicles and the adjacent front vehicle and the distance between the vehicles and the adjacent rear vehicle, and the mark of a controller of the vehicles, the speed of the vehicles is the speed of the vehicles when the vehicles send communication messages, wherein, when the vehicle does not detect the front vehicle within the set distance, the corresponding whole vehicle control program is represented by a state 0, when the self vehicle controller mark is that someone drives, the corresponding whole vehicle control program is represented by a state 1, when a self vehicle controller mark is unmanned, the corresponding whole vehicle control program is represented by a state 0, when the vehicle is taken as a vehicle team master, the corresponding whole vehicle control program is represented by a state 1, and when the vehicle is taken as a member vehicle of the vehicle team, the corresponding whole vehicle control program is represented by a state 0.
In another aspect, a hybrid vehicle fleet control system based on V2X communication, wherein the vehicles in the system communicate with each other by V2X technology, the functions of the vehicle fleet include a vehicle fleet building unit, a vehicle joining unit, a control right transferring unit and a vehicle leaving unit, the parameters of the vehicle fleet include individual parameters of the vehicles and overall parameters of the vehicle fleet,
the individual parameters of the vehicle comprise a mark of a vehicle controller, an inherent identification code of the vehicle, the speed of the vehicle and the distance between the vehicle and an adjacent vehicle;
the overall parameter of the motorcade comprises a motorcade management parameter and a motorcade member state, wherein the motorcade management parameter comprises a motorcade member state, a motorcade length, a vehicle number, a motorcade speed, a motorcade interval and a position number; the motorcade member states comprise a motorcade master controller, a motorcade master controller applicant, a common member, a person to be joined and a person to be left;
the length of the motorcade is the maximum value of the number of vehicles allowed to be added in the motorcade;
the number of the vehicles is the number of the existing vehicles in the motorcade, and the number of the vehicles is less than or equal to the length of the motorcade;
the speed of the motorcade is the average value of the speeds of the vehicles kept after the vehicles are added into the motorcade;
the motorcade distance refers to the distance between motorcade members;
the position number refers to the position number of the vehicle in the fleet, and the first vehicle in the forward direction of the fleet is defined as 1 for sequencing;
the motorcade master controller completes each function by acquiring the individual parameters of the vehicles and the overall parameters of the motorcade, wherein when the motorcade is built, the motorcade initiator is defaulted to be the motorcade master controller.
Preferably, the motorcade building unit is specifically configured to send a V2X formation message to surrounding vehicles through a motorcade initiator, send an enqueuing application to the motorcade initiator by a to-be-added person, judge whether a length requirement of a motorcade is met by the motorcade initiator, send an agreement message or a rejection message to the to-be-added person, and after receiving the agreement message, the to-be-added person adjusts the speed of the vehicle to be consistent with the speed of the motorcade, and executes a function of the vehicle adding unit.
Preferably, the vehicle joining unit is specifically that a joining position is determined by a joining person, after the joining position is agreed by a fleet sponsor, the fleet sponsor sends a fleet distance to the joining person, the joining person adjusts the distance between a self vehicle and an adjacent vehicle to join in a fleet, the function of the vehicle joining unit is realized by a single joining person, when the vehicle leaving unit is specifically that after a fleet master receives a departure application sent by the joining person in the fleet, the fleet master sends a message for adjusting the fleet distance to a common member of the fleet, the fleet distance is redetected until the requirement is met, the fleet master updates the fleet message, and the fleet building unit is executed according to the length requirement of the fleet.
Preferably, the control right transferring unit is specifically that the motorcade master control applicant sends an application to become the motorcade master control applicant, the current motorcade master control applicant obtains the application and then judges whether the control standard position, the self-speed and the self-distance of the motorcade master control applicant all meet the requirements, when all the three meet the requirements, the current motorcade master control applicant sends an agreement message to the motorcade master control applicant, and when any one of the three does not meet the requirement, the current motorcade master control applicant sends a rejection message to the motorcade master control applicant.
Compared with the prior art, the invention has the beneficial effects that:
1. all vehicles in the fleet are managed and allocated by the master control vehicle in a unified way, and vehicles (including newly added vehicles) meeting the conditions in the fleet can be applied for being replaced into new master control vehicles;
2. based on V2X technical communication, parameters such as the distance between fleet members and the speed are adjusted at any time through V2X communication so as to meet the requirements of running under the actual road environment.
3. The joining position of the vehicle to be joined is flexible.
Drawings
FIG. 1 is an operational schematic diagram of a hybrid fleet control method based on V2X communication in accordance with the present invention;
FIG. 2 is a schematic illustration of a fleet of vehicles being assembled in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of the operation of a fleet master in building a fleet of vehicles according to one embodiment of the present invention;
FIG. 4 is a schematic illustration of a vehicle joining a fleet of vehicles in accordance with an embodiment of the present invention;
FIG. 5 is a schematic illustration of a fleet master transferring control in one embodiment of the present invention;
fig. 6 is a schematic illustration of vehicles leaving a fleet of vehicles in an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to fig. 1 to 6 of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other implementations made by those of ordinary skill in the art based on the embodiments of the present invention are obtained without inventive efforts.
Example 1:
a hybrid fleet control system based on V2X communication utilizes V2X technology to realize direct two-way communication between unmanned vehicles, and the method comprises 4 functions: fleet construction, vehicle joining, control right transfer, and vehicle leaving.
First all vehicles are equipped with a V2X communication module, and a vehicle acts as a fleet originator and sends a fleet build message to all vehicles within surrounding communication range. The invention provides a motorcade building message format of a hybrid motorcade under a co-existence environment of manned and unmanned driving, wherein the motorcade building message comprises contents in 2 aspects: individual parameters of the vehicle and overall parameters of the fleet.
The vehicle individual parameters include 4 vehicle own sub-parameters: the vehicle controller mark, the inherent identification code of the vehicle, the speed of the vehicle and the distance between the vehicle and the adjacent vehicle. The vehicle controller flag indicates where the control authority of the vehicle is. For a manned vehicle, the vehicle controller is the driver of the vehicle, denoted by 1; for unmanned vehicles, the vehicle controller is an automatic control system, denoted by 0. In the specific implementation process, the mark of the controller of the vehicle can be permanently solidified in the control program of the whole vehicle when the vehicle is produced, or can not be permanently solidified in the control program of the whole vehicle, and can be switched along with whether the vehicle is driven by a person or not. When the switching mode is adopted, the mark can be realized in various modes: it is necessary to combine various sensors such as an occupant detection sensor, a camera, a steering wheel pressure sensor, etc. in the seat to perform judgment and analysis, or to set a hardware switch, etc.
The vehicle inherent identification code is a unique identification feature code of the vehicle, and generally refers to a VIN code of the vehicle. The speed of the vehicle is the current speed of the vehicle at the moment of sending the message, and CAN be obtained by calculating the GPS position information contained in the V2X message or reading the data of the vehicle speed sensor on the CAN bus.
The distance between the self vehicle and the adjacent vehicle comprises 2 distance parameters: the distance between the vehicle and the adjacent front vehicle and the distance between the vehicle and the adjacent rear vehicle. In specific implementation, the distance between the vehicle and the adjacent vehicle can be measured by various sensors such as millimeter wave radar and laser radar, and can also be calculated according to the GPS position information contained in the V2X message between the two vehicles, or the method is realized by combining the methods.
When the vehicle is positioned at the forefront of the whole fleet, the distance between the vehicle and the adjacent front vehicle is represented by 0, and the distance between the vehicle and the adjacent rear vehicle is measured in real time by a sensor or an algorithm. Further, the bicycle is positioned at the forefront of the whole motorcade and comprises 2 layers of meanings: there is no vehicle in front of the bicycle, there is a vehicle in front of the bicycle but it is not a member of the fleet. When there is no vehicle in front of the vehicle, the distance between the vehicle and the adjacent vehicle is represented by 0. When a vehicle is in front of the vehicle but is not a member of the platoon, the vehicle can detect the distance between the adjacent vehicles through the sensor, but the vehicle does not belong to the platoon range, and the distance between the vehicle and the adjacent vehicle is also indicated by 0.
When the vehicle is positioned at the rearmost side of the whole vehicle fleet, the distance between the vehicle and the adjacent rear vehicle is represented by 0, and the distance between the vehicle and the adjacent front vehicle is measured in real time by a sensor or an algorithm. Further, the bicycle positioned at the rearmost of the whole motorcade contains 2 layers of meanings: there is no vehicle behind the host vehicle and there is a vehicle behind the host vehicle but it is not a member of the fleet. When no vehicle is behind the vehicle, the distance between the vehicle and the adjacent vehicle is not detected by the sensor, and the distance between the vehicle and the adjacent vehicle is represented by 0. When a vehicle is behind the own vehicle but is not a member of the vehicle fleet, the own vehicle can detect the distance between the adjacent rear vehicles through the sensor, but the vehicle does not belong to the vehicle fleet, and the distance between the own vehicle and the adjacent rear vehicles is also represented by 0.
In order to realize self-adaptive management of a motorcade under the environment of unmanned and manned mixed traffic, the motorcade management parameters provided by the invention are provided with the following 6 sub-parameters: fleet membership status, fleet length, number of vehicles, fleet speed, fleet spacing, position number.
There are 5 fleet membership states: the system comprises a current fleet master controller, a fleet master controller applicant, common members, a person to be joined and a person to be left. If a certain vehicle is in one of the states, it is represented by 1, and if not, it is represented by 0. The motorcade master controller is a main controller of the whole motorcade and completes the functions of motorcade construction, joining and leaving of other vehicles, transfer of motorcade master control right and the like. When the motorcade initiates the initial time of the building, the motorcade initiator is defaulted as a motorcade master controller. After other vehicles join the fleet, the transfer of control right can be completed under the consent of the current fleet master controller, and the fleet master controller except the fleet initiator can preferentially select the vehicles driven by people. If the motorcade initiator is an unmanned vehicle, the motorcade master control right can be obtained by applying when a person in the motorcade enters the motorcade. Vehicles in all communication ranges can receive the messages of vehicle joining application, master control right application and the like sent by other vehicles, but only the master controllers of the fleet have the right to reply. The master control applicant of the fleet indicates that the status bit is 1 when the common member of the fleet applies for the fleet control authority to the current master. The common member is a non-master vehicle that has joined the fleet. And the vehicle sends an application joining message to the motorcade master controller, the state bit of the to-be-joined person is represented by 1, the state bit of the to-be-joined person is changed to 0 after joining, and the state bit of the common member is changed to 1. When the vehicle sends out the leaving message to the motorcade master, the status bit of the person to be left is represented by 1.
The length of the fleet refers to the maximum number of vehicles allowed to join the fleet. When there is only a fleet originator, the fleet length is 1. The length of the fleet is not more than 99 at most because the fleet is too long and communication between vehicles is not easy. The number of the vehicles refers to the number of the existing vehicles in the fleet, and the number of the vehicles is less than or equal to the length of the fleet. Fleet speed is the average of the vehicle speeds maintained after vehicles join the fleet. Fleet spacing refers to the distance between fleet members. The position number is the position number of the vehicle in the vehicle group, and the vehicle is ranked according to the position number of the vehicle at the forefront of the vehicle group as 1.
It should be noted that, referring to fig. 2 and fig. 3, the vehicle joining function can only allow one vehicle to join the fleet at a time, and the criterion for the fleet master to allow other vehicles to join is to determine whether the existing number of the fleet meets the requirement of the length of the fleet, which is specifically as follows:
step 1: the current vehicle receives a vehicle fleet building V2X message sent by a vehicle fleet initiator through a V2X technology;
step 2: judging whether the number of vehicles in the motorcade building message reaches the length of the motorcade or not, if so, skipping step 8, and if not, skipping step 3;
and step 3: the current vehicle sends out a joining fleet application V2X message, and vehicles in all communication ranges including a fleet master can receive the V2X message;
and 4, step 4: the current vehicle judges whether a V2X message which is approved by a motorcade master is received or not, if the current vehicle receives the jumping step 5, if the current vehicle does not receive the jumping step 3;
and 5: resolving the speed of the vehicle through a GPS sensor or reading the speed of the vehicle through a CAN bus, judging whether the speed of the vehicle is consistent with the speed of the vehicle team or not, if so, skipping step 6, and if not, skipping step 7;
step 6: the applicant vehicle keeps running at the current speed and prepares to join the fleet;
and 7: the applicant vehicle adjusts the current speed and prepares to join the motorcade;
and 8: the current vehicle does not send a join fleet application V2X message.
It should be noted that, referring to fig. 4, when a vehicle is merged into a fleet, the vehicle has a function of autonomously selecting a joining position, which may be a front part of the fleet, a rear part of the fleet, or any position in the fleet, but all need to be controlled by a fleet master, and the specific contents are as follows:
step 1: receiving a position to be added message sent by a vehicle which is agreed to be added into the motorcade by a motorcade master controller;
step 2: judging whether the position to be added is the head or the tail of the motorcade, if so, only asking the master controller of the motorcade for approval, and skipping to the step 5, and if not, skipping to the step 3;
and step 3: judging whether the member vehicles of the fleet in front of the position to be joined agree to join the position, if so, skipping step 4, and if not, skipping step 10;
and 4, step 4: judging whether the motorcade member vehicles behind the position to be joined agree to join the position, if so, skipping step 5, and if not, skipping step 10;
and 5: whether the motorcade master controller agrees to join the position or not is judged, if so, the step 6 is skipped, and if not, the step 10 is skipped;
step 6: all the relevant vehicles to be joined in the position agree to join in the position, the motorcade master controller sends out a vehicle distance adjusting message so as to be convenient for keeping a certain distance after the vehicles to be joined in the motorcade;
and 7: judging whether the distance between vehicles to be added to the position meets the requirement or not according to the real-time position information sent by the vehicles, if so, skipping to the step 8, and if not, continuing to adjust the distance between vehicles if the distance does not meet the requirement and running risks, and skipping to the step 6;
and 8: the applicant vehicle joins the motorcade at the position to be joined;
and step 9: the motorcade master updates relevant position information of the motorcade;
step 10: the fleet master issues an alternate join location message.
It should be noted that, referring to fig. 5, when the fleet of vehicles is increased from the first vehicle to a certain scale, if other members of the fleet of vehicles are to become the new fleet of vehicles master, the next function, i.e. the transfer of fleet control authority, is performed, which is specifically as follows:
step 1: the motorcade member sends an application for becoming a motorcade master controller;
step 2: the current motorcade master controller receives the application;
and step 3: the motorcade master controller judges whether the self-vehicle controller mark of the applicant meets the requirement, the optional self-vehicle controller mark is any one of manned driving or unmanned driving, if yes, the step 4 is skipped, and if not, the step 8 is skipped;
and 4, step 4: judging whether the current speed of the applicant meets the requirement, if so, skipping to the step 5, and if not, skipping to the step 8;
and 5: judging whether the current distance between the self vehicles of the applicant meets the requirement, if so, skipping to the step 6, and if not, skipping to the step 8;
step 6: when the controller mark, the speed, the distance and other parameters of the applicant meet the requirements, the current fleet master controller sends out an application agreement message;
and 7: the current motorcade master transfers the motorcade control right and updates motorcade information;
and 8: when any one of the parameters such as the controller mark of the applicant, the speed of the vehicle, the distance between the vehicles and the like does not meet the requirement, the master controller of the current vehicle team sends out a non-approval application message.
It should be noted that, referring to fig. 6, when a vehicle in the fleet needs to leave the fleet, only a leave message needs to be sent to the fleet master, which includes the following specific contents:
step 1: the vehicle leaving method comprises the steps that a vehicle leaving message is sent by a vehicle to be left, and a vehicle master receives vehicle leaving messages sent by other vehicles;
step 2: after the vehicle leaves, the motorcade master sends a message for adjusting the distance between vehicles;
and step 3: the motorcade master controller judges whether the motorcade distance meets the motorcade requirement, if so, the step 4 is skipped, and if not, the step 2 is skipped;
and 4, step 4: the motorcade master updates motorcade information;
and 5: and the fleet master controller re-sends the fleet building message so as to facilitate other vehicles to join the fleet.
In summary, the fleet control system based on the V2X communication technology in this embodiment can specifically implement the above four functions and a new fleet building message format, including but not limited to the above four functions, and the control system is applied to different scenes, for example, in urban traffic, training grounds, traffic models, or small recreational traffic, no matter whether unmanned or manned, unified deployment can be achieved, and the vehicle has an independent option, is more practical, and has the characteristics of humanization and the like.
Example 2:
referring to fig. 1, the hybrid fleet control method based on V2X communication includes the following steps:
step 1: a motorcade initiator initiates a V2X message for building a motorcade to surrounding vehicles, the motorcade initiator counts and processes a received enqueue application sent by a vehicle to be added, wherein the V2X message contains the operation data of the vehicle of the motorcade initiator, the enqueue application contains the operation data of the vehicle to be added, and the step 2 is executed;
step 2: combining the set motorcade length and the received enqueuing application by a motorcade initiator, executing the step 7 when the number of the vehicles reaches the set motorcade length, and executing the step 3 when the number of the vehicles does not reach the set motorcade length;
and step 3: the motorcade initiator continues to send a V2X message for building the motorcade to surrounding vehicles, a vehicle to be added which is sent to a team application independently selects the position of the motorcade after receiving an application agreement message sent by the motorcade initiator, the vehicle to be added executes preparation work for adding the motorcade and adds the vehicle to the position of the motorcade based on the determined position of the motorcade after the vehicle to be added autonomously selects the position of the motorcade, the motorcade initiator updates the position information of the motorcade and executes the step 1;
and 4, step 4: when member vehicles of the fleet send out and become the master controller of the fleet to apply for, the master controller of the fleet judges according to the application and changes the master controller of the fleet, if the member vehicle accords with the judging standard changing the master controller of the fleet, carry out step 5, if the member vehicle does not accord with the judging standard changing the master controller of the fleet, carry out step 6, wherein, when the fleet is being built, the sponsor of the fleet defines as the master controller of the fleet, the master controller of the fleet has control right of the fleet;
and 5: the current motorcade master controller sends an application message for agreeing to change the motorcade master controller to the member vehicle, the current motorcade master controller transfers the motorcade control right to the member vehicle and updates the motorcade message, the control right of the motorcade is changed, and the step 4 is executed;
step 6: the current fleet master controller sends an application message of disappointing the replacement of the fleet master controller to the member vehicle, and the current fleet master controller continues to execute the fleet control right and executes the step 4;
and 7: the motorcade initiator sends a disagreement application message to the vehicles to be joined, the motorcade initiator stops sending a V2X message for building the motorcade to the surrounding vehicles, the motorcade building is completed, and the process is finished.
It should be noted that, in step 1, the vehicle includes a manned vehicle and an unmanned vehicle, in the manned vehicle, the controller of the vehicle is the driver, in the unmanned vehicle, the controller of the vehicle is an automatic control system, in which the vehicles communicate with each other based on the V2X technology, the running data of the vehicle includes the running speed, the geographic position and the feature code of the vehicle, and the feature code is the VIN code of the vehicle and is used to represent the identity information specific to the vehicle.
It should be noted that, in step 2, the length of the fleet is the maximum number of vehicles that can be allowed to exist in the fleet, the fleet master processes one enqueue application each time, and at most a single vehicle to be added is allowed to join the fleet in each processing result, and in step 3, the step of autonomously selecting the position of the fleet includes the following steps:
step 31: after the joining vehicle receives the agreement application message of the vehicle initiator, if the joining position of the joining vehicle is the head or the tail of the fleet, executing step 34; if the joining position is not the head or tail of the motorcade, executing step 32;
step 32: whether the front fleet member vehicle of the joining vehicle seeking the joining position agrees to join the joining vehicle to the position or not is judged, if yes, step 33 is executed, and if not, step 37 is executed;
step 33: whether the rear fleet member vehicles of the joining vehicle soliciting joining position agree to join the joining vehicle in the position or not is judged, if yes, step 34 is executed, and if not, step 37 is executed;
step 34: whether the fleet master agrees to join the joining vehicle to the location, if yes, go to step 35, if not, go to step 37;
step 35: a motorcade master controller sends a vehicle distance adjusting message, a vehicle to be joined and member vehicles adjust the vehicle distance, whether the vehicle distance of the position to be joined meets the vehicle merging requirement is judged according to the geographical position sent by the vehicle to be joined, if yes, step 36 is executed, if not, the vehicle distance is continuously adjusted, and step 35 is executed;
step 36: the autonomous selection of the fleet position is completed;
step 37: the fleet master sends a message to the joining vehicle selecting a new joining location and, based on the selected new joining location, performs step 32.
It should be noted that, in the step 4, the determination criteria for replacing the fleet master includes the following steps:
step 41: when the member vehicles of the fleet apply for becoming the fleet master, the fleet master judges the controllers of the member vehicles, if the controllers of the member vehicles are drivers or automatic control systems, step 42 is executed, and if the controllers of the member vehicles are neither drivers nor automatic control systems, step 45 is executed;
step 42: judging whether the current speed of the member vehicle meets the requirement, if so, executing a step 43, and if not, executing a step 45;
step 43: judging whether the current inter-vehicle distance of the member vehicle meets the requirement, if so, executing a step 44, and if not, executing a step 45;
step 44: executing the step 5;
step 45: step 6 is performed.
It should be noted that when the leaving vehicle in the fleet prepares to leave, the process flow includes the following steps:
step 61: when the leaving vehicle sends out a leaving message and the vehicle master receives the leaving message, executing step 62;
step 62: after the vehicle leaves the fleet, a fleet master sends a vehicle distance adjusting message, the fleet master judges whether the fleet distance meets the fleet requirement, if so, step 63 is executed, and if not, step 62 is executed;
and step 63: the fleet master updates the fleet message and continues to step 1 when the fleet length needs to be maintained.
It should be noted that the vehicle unique identification code is a unique identification feature code of the vehicle, and generally refers to a VIN code of the vehicle. The speed of the vehicle is the current speed of the vehicle at the moment of sending the message, CAN be obtained by resolving through GPS position information contained in the V2X message, and CAN also be obtained by reading data of a vehicle speed sensor on a CAN bus. When the switching mode is adopted, the mark can be realized in various modes: in specific implementation, the distance between the vehicle and the adjacent vehicle can be measured by various sensors such as millimeter wave radar and laser radar, and can also be calculated according to GPS position information contained in a V2X message between the two vehicles, or the combination of the methods is realized.
It is worth to be noted that the vehicles are all provided with a whole vehicle control program, the whole vehicle control program acquires behavior data of the vehicles, the behavior data comprises a vehicle speed, a vehicle distance and a vehicle controller mark, the vehicle speed is the speed of the vehicles when the vehicles send communication messages, the vehicle distance comprises the distance between the vehicle and an adjacent front vehicle and the distance between the vehicle and an adjacent rear vehicle, wherein, when the vehicle does not detect the front vehicle within the set distance, the corresponding whole vehicle control program is represented by a state 0, when the self vehicle controller mark is that someone drives, the corresponding whole vehicle control program is represented by a state 1, when a self vehicle controller mark is unmanned, the corresponding whole vehicle control program is represented by a state 0, when the vehicle is taken as a vehicle team master, the corresponding whole vehicle control program is represented by a state 1, and when the vehicle is taken as a member vehicle of the vehicle team, the corresponding whole vehicle control program is represented by a state 0.
In summary, after other vehicles join the fleet, the transfer of control right can be completed under the consent of the current fleet master, and the fleet master except the fleet initiator can preferentially select the manned vehicle. If the motorcade initiator is an unmanned vehicle, the motorcade master control right can be obtained by applying when a person in the motorcade enters the motorcade. The information of vehicle joining application, master control right application and the like sent by other vehicles can be received by vehicles in all communication ranges, but only the master controller of the fleet has the right to reply, the embodiment includes but is not limited to specific contents of control right transfer, vehicle joining deployment, vehicle leaving, fleet construction and the like of the fleet, and the same deployment method is applicable to overall movement, starting, stopping, multimedia regulation and control in the vehicles and the like of the fleet.
Claims (10)
1. A hybrid fleet control method based on V2X communication, comprising the steps of:
step 1: a motorcade initiator initiates a V2X message for building a motorcade to surrounding vehicles, the motorcade initiator counts and processes a received enqueue application sent by a vehicle to be added, wherein the V2X message contains the operation data of the vehicle of the motorcade initiator, the enqueue application contains the operation data of the vehicle to be added, and the step 2 is executed;
step 2: combining the set motorcade length and the received enqueuing application by a motorcade initiator, executing the step 7 when the number of the vehicles reaches the set motorcade length, and executing the step 3 when the number of the vehicles does not reach the set motorcade length;
and step 3: the motorcade initiator continues to send a V2X message for building the motorcade to surrounding vehicles, a vehicle to be added which is sent to a team application independently selects the position of the motorcade after receiving an application agreement message sent by the motorcade initiator, the vehicle to be added executes preparation work for adding the motorcade and adds the vehicle to the position of the motorcade based on the determined position of the motorcade after the vehicle to be added autonomously selects the position of the motorcade, the motorcade initiator updates the position information of the motorcade and executes the step 1;
and 4, step 4: when member vehicles of the fleet send out and become the master controller of the fleet to apply for, the master controller of the fleet judges according to the application and changes the master controller of the fleet, if the member vehicle accords with the judging standard changing the master controller of the fleet, carry out step 5, if the member vehicle does not accord with the judging standard changing the master controller of the fleet, carry out step 6, wherein, when the fleet is being built, the sponsor of the fleet defines as the master controller of the fleet, the master controller of the fleet has control right of the fleet;
and 5: the current motorcade master controller sends an application message for agreeing to change the motorcade master controller to the member vehicle, the current motorcade master controller transfers the motorcade control right to the member vehicle and updates the motorcade message, the control right of the motorcade is changed, and the step 4 is executed;
step 6: the current fleet master controller sends an application message of disappointing to change the fleet master controller to the member vehicle, and the current fleet master controller continues to execute the fleet control right and finishes;
and 7: and (4) the motorcade initiator sends a disagreement application message to the vehicles to be joined, the motorcade initiator stops sending a V2X message for building the motorcade to the surrounding vehicles, the motorcade building is completed, and the step 4 is executed.
2. The V2X communication-based hybrid fleet control method according to claim 1, wherein in step 1, the vehicles comprise a manned vehicle and an unmanned vehicle, wherein for the manned vehicle, the vehicle controller is a driver, and for the unmanned vehicle, the vehicle controller is an automatic control system, wherein the vehicles communicate with each other based on V2X technology, the vehicle operation data comprises the vehicle operation speed, the geographic location and the vehicle signature, and the vehicle VIN code is used to represent vehicle-specific identity information.
3. The V2X communication-based hybrid fleet control method according to claim 2, wherein in step 2, the length of the fleet is the maximum number of vehicles in the fleet that can be admitted, and the fleet master processes one enqueue application at a time, and at most a single vehicle to be admitted is admitted into the fleet as a result of each processing.
4. The V2X communication-based hybrid fleet control method of claim 3, wherein said step 3 of autonomously selecting a fleet location comprises the steps of:
step 31: after the joining vehicle receives the agreement application message of the vehicle initiator, if the joining position of the joining vehicle is the head or the tail of the fleet, executing step 34; if the joining position is not the head or tail of the motorcade, executing step 32;
step 32: whether the front fleet member vehicle of the joining vehicle seeking the joining position agrees to join the joining vehicle to the position or not is judged, if yes, step 33 is executed, and if not, step 37 is executed;
step 33: whether the rear fleet member vehicles of the joining vehicle soliciting joining position agree to join the joining vehicle in the position or not is judged, if yes, step 34 is executed, and if not, step 37 is executed;
step 34: whether the fleet master agrees to join the joining vehicle to the location, if yes, go to step 35, if not, go to step 37;
step 35: a motorcade master controller sends a vehicle distance adjusting message, a vehicle to be joined and member vehicles adjust the vehicle distance, whether the vehicle distance of the position to be joined meets the vehicle merging requirement is judged according to the geographical position sent by the vehicle to be joined, if yes, step 36 is executed, if not, the vehicle distance is continuously adjusted, and step 35 is executed;
step 36: the autonomous selection of the fleet position is completed;
step 37: the fleet master sends a message to the joining vehicle selecting a new joining location and, based on the selected new joining location, performs step 32.
5. The V2X communication-based hybrid fleet control method of claim 4, wherein said step 4, changing the fleet master criteria comprises the steps of:
step 41: when the member vehicles of the fleet apply for becoming the fleet master, the fleet master judges the controllers of the member vehicles, if the controllers of the member vehicles are drivers or automatic control systems, step 42 is executed, and if the controllers of the member vehicles are neither drivers nor automatic control systems, step 45 is executed;
step 42: judging whether the current speed of the member vehicle meets the requirement, if so, executing a step 43, and if not, executing a step 45;
step 43: judging whether the current inter-vehicle distance of the member vehicle meets the requirement, if so, executing a step 44, and if not, executing a step 45;
step 44: executing the step 5;
step 45: step 6 is performed.
6. The V2X-based hybrid fleet control method according to any one of claims 1 to 5, wherein the vehicles are all provided with a whole vehicle control program, the whole vehicle control program obtains vehicle behavior data including a vehicle speed, a vehicle distance and a vehicle controller flag, the vehicle speed is the speed of the vehicle when the vehicle sends a communication message, the vehicle distance includes the distance between the vehicle and an adjacent front vehicle and the distance between the vehicle and an adjacent rear vehicle, wherein when the vehicle does not detect a front vehicle within a set distance, the corresponding whole vehicle control program is represented by state 0, when the vehicle controller flag is manned, the corresponding whole vehicle control program is represented by state 1, when the vehicle controller flag is unmanned, the corresponding whole vehicle control program is represented by state 0, and when the vehicle is used as a master controller, the corresponding whole vehicle control program is represented by a state 1, and when the vehicle is a member vehicle of the fleet, the corresponding whole vehicle control program is represented by a state 0.
7. A mixed fleet control system based on V2X communication is characterized in that the vehicles in the system realize communication through V2X technology, the functions of the fleet comprise a fleet building unit, a vehicle joining unit, a control right transferring unit and a vehicle leaving unit, the parameters of the fleet comprise individual parameters of the vehicles and overall parameters of the fleet,
the individual parameters of the vehicle comprise a mark of a vehicle controller, an inherent identification code of the vehicle, the speed of the vehicle and the distance between the vehicle and an adjacent vehicle;
the overall parameter of the motorcade comprises a motorcade management parameter and a motorcade member state, wherein the motorcade management parameter comprises a motorcade member state, a motorcade length, a vehicle number, a motorcade speed, a motorcade interval and a position number; the motorcade member states comprise a motorcade master controller, a motorcade master controller applicant, a common member, a person to be joined and a person to be left;
the length of the motorcade is the maximum value of the number of vehicles allowed to be added in the motorcade;
the number of the vehicles is the number of the existing vehicles in the motorcade, and the number of the vehicles is less than or equal to the length of the motorcade;
the speed of the motorcade is the average value of the speeds of the vehicles kept after the vehicles are added into the motorcade;
the motorcade distance refers to the distance between motorcade members;
the position number refers to the position number of the vehicle in the fleet, and the first vehicle in the forward direction of the fleet is defined as 1 for sequencing;
the motorcade master controller completes each function by acquiring the individual parameters of the vehicles and the overall parameters of the motorcade, wherein when the motorcade is built, the motorcade initiator is defaulted to be the motorcade master controller.
8. The V2X communication-based hybrid fleet control system according to claim 7, wherein the fleet building unit is specifically configured to send a V2X fleet message to surrounding vehicles through a fleet sponsor, send an enqueue request to the fleet sponsor by a candidate, the fleet sponsor determines whether the fleet length requirement is met, sends an agreement message or a rejection message to the candidate, and executes a vehicle join unit function by adjusting the speed of the candidate to be consistent with the speed of the fleet after receiving the agreement message.
9. The V2X communication-based hybrid fleet control system according to claim 8, wherein the vehicle joining unit is specifically a candidate to determine a joining location, the fleet originator sends a fleet distance to the candidate after agreeing with the joining location, the candidate adjusts a distance between the host vehicle and an adjacent vehicle to join in the fleet, the vehicle joining unit is implemented by a single candidate, the vehicle leaving unit is specifically a fleet master that sends a request for departure from the candidate in the fleet to adjust the fleet distance to a common member of the fleet, re-detects the fleet distance until the request is met, updates the fleet message, and executes the fleet construction unit according to the fleet length requirement.
10. The V2X-based hybrid fleet control system according to claim 9, wherein the control right transferring unit is specifically configured to send an application to become a fleet master by a fleet master, the current fleet master determines whether the control standard level, the speed and the distance of the fleet master meet the requirements after obtaining the application, and when all of the three meet the requirements, the current fleet master sends an approval message to the fleet master, and when any one of the three does not meet the requirements, the current fleet master sends a rejection message to the fleet master.
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