CN112068571A - Vehicle formation system and method for unmanned driving - Google Patents
Vehicle formation system and method for unmanned driving Download PDFInfo
- Publication number
- CN112068571A CN112068571A CN202011039797.8A CN202011039797A CN112068571A CN 112068571 A CN112068571 A CN 112068571A CN 202011039797 A CN202011039797 A CN 202011039797A CN 112068571 A CN112068571 A CN 112068571A
- Authority
- CN
- China
- Prior art keywords
- motorcade
- fleet
- current
- vehicles
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 37
- 230000015572 biosynthetic process Effects 0.000 title claims abstract description 35
- 238000000926 separation method Methods 0.000 claims description 23
- 239000003999 initiator Substances 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
- 230000007613 environmental effect Effects 0.000 claims description 3
- 230000010354 integration Effects 0.000 abstract 1
- 230000008569 process Effects 0.000 description 12
- 238000007726 management method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007596 consolidation process Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0293—Convoy travelling
Abstract
The invention relates to the technical field of unmanned driving, and aims to provide a vehicle formation system and a method for unmanned driving, wherein vehicles in the system are communicated through a V2X module, formation among fleets comprises a fleet query function, a fleet merging function, a fleet splitting function and a fleet splitting function, the functions are realized by arranging a control module, a V2X module, a map module and a sensor module on the vehicle, particularly, a main control fleet sends a fleet query and merging instruction according to the length requirement of the fleet, driving parameters of each vehicle in the fleet are adjusted through a specific adding position, so that the fleet forms a new fleet by combining with another fleet, the single fleet is converted into a plurality of new fleets with smaller lengths through the fleet splitting, and the integration and the splitting are realized on the same route, overall regulation and planning of traffic, wherein the vehicle controller may be unmanned or unmanned.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to a vehicle formation system and a vehicle formation method for unmanned driving.
Background
The unmanned formation function implementation process comprises the following steps: a plurality of unmanned vehicles form a formation to sequentially run at a uniform speed and a same interval in a specific time and a specific journey, and carry out cargo transportation and passenger carrying under a specific scene, so that the unmanned vehicle can be widely applied to places such as airports, ports, large warehouse bases, express transit centers and the like. The current scheme is realized by using an adaptive cruise technology, and the method is only suitable for simple traffic environments of a single motorcade. Along with the continuous development of society, unmanned vehicles can be more and more, and the place that unmanned formation was used also can continuously expand, and unmanned formation can appear in the future under highway, city road conditions. The invention provides a management method for unmanned formation in an intelligent traffic environment, aiming at unmanned vehicle formation in a complex traffic environment.
Disclosure of Invention
The invention aims to provide a vehicle formation system and a vehicle formation method for unmanned driving, which utilize V2X wireless communication to realize the interaction of messages between an unmanned vehicle fleet and an unmanned vehicle fleet as well as between the unmanned vehicle fleet and a manned vehicle fleet.
The technical scheme adopted by the invention is as follows: a method for unmanned vehicle formation, comprising the steps of:
step 1: after a current motorcade receives a V2X message sent by an applied motorcade, the current motorcade judges whether the length of the motorcade applied to the current motorcade reaches the length of the motorcade of the current motorcade, if so, step 5 is executed, and if not, step 2 is executed, wherein the motorcade type comprises a manned motorcade and an unmanned motorcade, and the V2X message comprises a motorcade name, a motorcade starting point, a motorcade destination, a motorcade length, a vehicle number, a motorcade speed, a motorcade interval and;
step 2: judging whether the destinations of the current fleet are the same as the destinations of the application fleet by the current fleet, if so, executing the step 3, and if not, executing the step 5, wherein the fleet comprises 2 or more than two vehicles, and all the vehicles in the same fleet have the same vehicle speed, vehicle distance and driving route;
and step 3: the current motorcade is combined with a map module to judge whether the driving routes of the motorcade and the applied motorcade have overlapped routes, if so, the step 4 is executed, and if not, the step 5 is executed;
and 4, step 4: calculating meeting time points and meeting positions of the current motorcade and the applied motorcade according to the motorcade position information, merging the motorcades to obtain a single motorcade, and finishing;
and 5: the current fleet was not successfully merged with the application fleet.
Preferably, in the step 4, the fleet merging includes three merging modes of head merging, tail merging and mid-fleet merging,
the queue head combination specifically comprises: the method comprises the steps that a motorcade is applied to be merged to the foremost end of a current motorcade to obtain a single motorcade, wherein the serial numbers of vehicles in the applied motorcade are unchanged, and the serial numbers of the vehicles in the current motorcade are accumulated to the total number of the vehicles in the applied motorcade to obtain a new serial number of the vehicles;
the queue tail combination specifically comprises: the method comprises the steps that a motorcade is applied to be merged to the tail end of a current motorcade to obtain a single motorcade, wherein the serial numbers of vehicles in the current motorcade are unchanged, and the serial numbers of the vehicles in the applied motorcade are accumulated to obtain a new serial number of the vehicles in the current motorcade;
the team merging specifically comprises: and applying for merging the motorcades into any two vehicles in the current motorcade to obtain a single motorcade, wherein the vehicle serial numbers in the single motorcade are rearranged to obtain new vehicle serial numbers.
Preferably, when the vehicles in the fleet are separated, the separation work is required, specifically comprising temporary separation and permanent separation, the fleet obtains a plurality of small fleets through the temporary separation, wherein the destination of the small fleets is the destination of the fleet before the separation, the fleet obtains a plurality of small fleets through the permanent separation, the destinations of the small fleets are different from each other, the separation work of the fleet is also included, and when the combined fleet reaches the destination, members in the fleet do not perform unified fleet management any more. .
Preferably, the vehicles within the fleet also include a control module, a V2X module, a map module and a sensor module, the sensor module comprises a millimeter wave radar, a laser radar, an ultrasonic radar, a camera and a position sensor, the sensor module is used for acquiring road, pedestrian and environmental parameters, the sensor module respectively transmits the acquired data to the V2X module and the map module, the map module obtains a motorcade driving route by processing motorcade speed and motorcade distance, and according to the position data of the vehicle team and the position data of other vehicle teams, combining the starting point and the destination of each vehicle team, analyzing whether the running routes of the two vehicle teams are overlapped and the overlapped travel length, predicting the meeting time and the meeting place of the two vehicle teams and the other vehicle teams when the two vehicle teams run at the current speed, sending and receiving vehicle team messages under the control of the control module by the V2X module, and providing various data for the operation of the vehicle teams by matching with the sensor module.
In another aspect, a system for formation of unmanned vehicles, in which vehicles communicate with each other via a V2X module, formation between fleets of vehicles includes a fleet query function, a fleet merge function, a fleet split function and a fleet break function,
the vehicle is provided with a control module, a V2X module, a map module and a sensor module, the control module is respectively connected with the V2X module and the map module, the sensor module is respectively connected with the V2X module and the map module, the sensor module is used for acquiring behavior data on the vehicle, the behavior data comprises vehicle speed, vehicle distance and vehicle position, the map module obtains a driving route of the vehicle through the processing of the behavior data on the vehicle, and the control module controls the V2X module to send a formation function command;
the motorcade query function is specifically as follows, a current motorcade acquires an enqueue message of an applied motorcade through a V2X module, when the requirement amount of the length of the current motorcade is larger than the length of the motorcade of the applied motorcade, the action data of the applied motorcade is processed through a map module of the current motorcade, when the destination of the current motorcade is consistent with that of the applied motorcade and the driving route is consistent, the meeting time point and the meeting position of the current motorcade and the applied motorcade are calculated, merging is carried out, and the merged motorcade action data are updated, wherein the motorcade merging function comprises four types of merging names.
Preferably, the merging position comprises three merging modes of head-of-line merging, tail-of-line merging and merging in-line,
the queue head combination specifically comprises: the method comprises the steps that a motorcade is applied to be merged to the foremost end of a current motorcade to obtain a single motorcade, wherein the serial numbers of vehicles in the applied motorcade are unchanged, and the serial numbers of the vehicles in the current motorcade are accumulated to the total number of the vehicles in the applied motorcade to obtain a new serial number of the vehicles;
the queue tail combination specifically comprises: the method comprises the steps that a motorcade is applied to be merged to the tail end of a current motorcade to obtain a single motorcade, wherein the serial numbers of vehicles in the current motorcade are unchanged, and the serial numbers of the vehicles in the applied motorcade are accumulated to obtain a new serial number of the vehicles in the current motorcade;
the team merging specifically comprises: and applying for merging the motorcades into any two vehicles in the current motorcade to obtain a single motorcade, wherein the vehicle serial numbers in the single motorcade are rearranged to obtain new vehicle serial numbers.
Preferably, the motorcade splitting function comprises temporary splitting and permanent splitting, the motorcade obtains a plurality of small motorcades through the temporary splitting, wherein the destination of the small motorcade is the destination of the motorcade before splitting, the motorcade obtains a plurality of small motorcades through the permanent splitting, the destinations of the small motorcades are different from each other, the motorcade splitting function further comprises the operation of the motorcade splitting, and when the combined motorcade reaches the destination, members in the motorcade do not perform unified motorcade management any more.
Preferably, the fleet dismissal function is specifically: when the motorcade reaches the destination, the unified management is not carried out any more, wherein a motorcade master controller is arranged in the motorcade and is a controller of the motorcade, when the motorcade initiator is built in the motorcade, the default motorcade initiator is the master controller of the motorcade, and after the current motorcade is merged with the applied motorcade, the motorcade master controller in the current motorcade is used as the controller of the merged motorcade.
Preferably, the fleet name marks the identity of the fleet and comprises a current name and a historical name, the current name refers to the name of the fleet at the moment, the current name is updated to be a merged name in time after the fleet is merged or split, and the historical name is the name of the fleet before merging or splitting.
Preferably, the fleet position includes a fleet start point and a fleet end point, the fleet start point includes an original start point and a current start point, the fleet end point includes an original end point and a current end point, and the merged fleet position is updated to the current start point and the current end point as the merged position.
Compared with the prior art, the invention has the beneficial effects that:
1. all vehicles realize management and information interaction through V2X messages, and the motorcade combination mode has multiple types;
2. the parameters of the fleet members are updated and adjusted at any time to meet the requirements.
Drawings
FIG. 1 is a schematic diagram of the various functions of a vehicle formation system for unmanned driving;
FIG. 2 is a schematic diagram of a vehicle formation in an embodiment of the present invention;
FIG. 3 is a schematic diagram of a query fleet in an embodiment of the present invention;
fig. 4 is a schematic diagram of fleet consolidation 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 4 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 method for unmanned vehicle formation, comprising the steps of:
step 1: after a current motorcade receives a V2X message sent by an applied motorcade, the current motorcade judges whether the length of the motorcade applied to the current motorcade reaches the length of the motorcade of the current motorcade, if so, step 5 is executed, and if not, step 2 is executed, wherein the motorcade type comprises a manned motorcade and an unmanned motorcade, and the V2X message comprises a motorcade name, a motorcade starting point, a motorcade destination, a motorcade length, a vehicle number, a motorcade speed, a motorcade interval and;
step 2: judging whether the destinations of the current fleet are the same as the destinations of the application fleet by the current fleet, if so, executing the step 3, and if not, executing the step 5, wherein the fleet comprises 2 or more than two vehicles, and all the vehicles in the same fleet have the same vehicle speed, vehicle distance and driving route;
and step 3: the current motorcade is combined with a map module to judge whether the driving routes of the motorcade and the applied motorcade have overlapped routes, if so, the step 4 is executed, and if not, the step 5 is executed;
and 4, step 4: calculating meeting time points and meeting positions of the current motorcade and the applied motorcade according to the motorcade position information, merging the motorcades to obtain a single motorcade, and finishing;
and 5: the current fleet was not successfully merged with the application fleet.
It should be noted that, in the step 4, the fleet merging includes three merging modes, i.e. merging at the head of the fleet, merging at the tail of the fleet and merging in the fleet,
the queue head combination specifically comprises: the method comprises the steps that a motorcade is applied to be merged to the foremost end of a current motorcade to obtain a single motorcade, wherein the serial numbers of vehicles in the applied motorcade are unchanged, and the serial numbers of the vehicles in the current motorcade are accumulated to the total number of the vehicles in the applied motorcade to obtain a new serial number of the vehicles;
the queue tail combination specifically comprises: the method comprises the steps that a motorcade is applied to be merged to the tail end of a current motorcade to obtain a single motorcade, wherein the serial numbers of vehicles in the current motorcade are unchanged, and the serial numbers of the vehicles in the applied motorcade are accumulated to obtain a new serial number of the vehicles in the current motorcade;
the team merging specifically comprises: and applying for merging the motorcades into any two vehicles in the current motorcade to obtain a single motorcade, wherein the vehicle serial numbers in the single motorcade are rearranged to obtain new vehicle serial numbers.
It is worth mentioning that when the vehicles in the fleet are separated, the separation work is required, specifically, the separation work comprises temporary separation and permanent separation, the fleet obtains a plurality of small fleets through the temporary separation, wherein the destination of the small fleets is the destination of the fleet before the separation, the fleet obtains a plurality of small fleets through the permanent separation, the destinations of the small fleets are different from each other, the separation work of the fleet also comprises the separation work, and when the combined fleet reaches the destination, members in the fleet do not perform unified fleet management any more.
It is worth noting that the vehicles within the fleet also include a control module, a V2X module, a map module and a sensor module, the sensor module comprises a millimeter wave radar, a laser radar, an ultrasonic radar, a camera and a position sensor, the sensor module is used for acquiring road, pedestrian and environmental parameters, the sensor module respectively transmits the acquired data to the V2X module and the map module, the map module obtains a motorcade driving route by processing motorcade speed and motorcade distance, and according to the position data of the vehicle team and the position data of other vehicle teams, combining the starting point and the destination of each vehicle team, analyzing whether the running routes of the two vehicle teams are overlapped and the overlapped travel length, predicting the meeting time and the meeting place of the two vehicle teams and the other vehicle teams when the two vehicle teams run at the current speed, sending and receiving vehicle team messages under the control of the control module by the V2X module, and providing various data for the operation of the vehicle teams by matching with the sensor module.
It is worth to be noted that the fleet master controller is a main controller of the whole fleet, and completes functions of fleet construction, joining and leaving of other vehicles, transfer of fleet 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.
It is worth noting that the length of the fleet is not more than 99 at maximum, since 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.
Example 2:
a vehicle formation system for unmanned driving, wherein vehicles in the system are communicated with each other through a V2X module, formation among fleets of vehicles comprises a fleet query function, a fleet merge function, a fleet split function and a fleet break function,
the vehicle is provided with a control module, a V2X module, a map module and a sensor module, the control module is respectively connected with the V2X module and the map module, the sensor module is respectively connected with the V2X module and the map module, the sensor module is used for acquiring behavior data on the vehicle, the behavior data comprises vehicle speed, vehicle distance and vehicle position, the map module obtains a driving route of the vehicle through the processing of the behavior data on the vehicle, and the control module controls the V2X module to send a formation function command;
the motorcade query function is specifically as follows, a current motorcade acquires an enqueue message of an applied motorcade through a V2X module, when the requirement amount of the length of the current motorcade is larger than the length of the motorcade of the applied motorcade, the action data of the applied motorcade is processed through a map module of the current motorcade, when the destination of the current motorcade is consistent with that of the applied motorcade and the driving route is consistent, the meeting time point and the meeting position of the current motorcade and the applied motorcade are calculated, merging is carried out, and the merged motorcade action data are updated, wherein the motorcade merging function comprises four types of merging names.
It is worth pointing out that the merging position includes three merging modes of merging at the head of the queue, merging at the tail of the queue and merging in the queue,
the queue head combination specifically comprises: the method comprises the steps that a motorcade is applied to be merged to the foremost end of a current motorcade to obtain a single motorcade, wherein the serial numbers of vehicles in the applied motorcade are unchanged, and the serial numbers of the vehicles in the current motorcade are accumulated to the total number of the vehicles in the applied motorcade to obtain a new serial number of the vehicles;
the queue tail combination specifically comprises: the method comprises the steps that a motorcade is applied to be merged to the tail end of a current motorcade to obtain a single motorcade, wherein the serial numbers of vehicles in the current motorcade are unchanged, and the serial numbers of the vehicles in the applied motorcade are accumulated to obtain a new serial number of the vehicles in the current motorcade;
the team merging specifically comprises: and applying for merging the motorcades into any two vehicles in the current motorcade to obtain a single motorcade, wherein the vehicle serial numbers in the single motorcade are rearranged to obtain new vehicle serial numbers.
It is worth to say that the motorcade splitting function includes temporary splitting and permanent splitting, the motorcade obtains a plurality of small motorcades through the temporary splitting, wherein, the destination of the small motorcade is the destination of the motorcade before splitting, the motorcade obtains a plurality of small motorcades through the permanent splitting, wherein, the destinations of the small motorcades are different from each other, the motorcade splitting function also includes the work of the motorcade splitting, when the merged motorcade reaches the destination, the members in the motorcade do not carry out the unified motorcade management any more.
It is worth to be noted that the fleet dismissal function is specifically: when the motorcade reaches the destination, the unified management is not carried out any more, wherein a motorcade master controller is arranged in the motorcade and is a controller of the motorcade, when the motorcade initiator is built in the motorcade, the default motorcade initiator is the master controller of the motorcade, and after the current motorcade is merged with the applied motorcade, the motorcade master controller in the current motorcade is used as the controller of the merged motorcade.
It should be noted that the fleet name marks the identity of the fleet, and includes a current name and a historical name, the current name refers to the name of the fleet at the time, the current name is updated to a merged name in time after the fleet is merged or split, and the historical name is the name of the fleet before merging or splitting.
It is worth to be noted that the fleet position includes a fleet starting point and a fleet ending point, the fleet starting point includes an original starting point and a current starting point, the fleet ending point includes an original ending point and a current ending point, and the merged fleet position is updated to be the current starting point and the current ending point as the merged position.
It is worth to be noted that the motorcade merging function implementation process is as follows: after the motorcade is inquired, motorcades partially or completely overlapped with the driving routes of the motorcades are found, the meeting time points and meeting position points of the two motorcades are calculated by utilizing the position information of the motorcades, and the function of combining the two motorcades or a plurality of motorcades into one motorcade is realized through the cooperation of various sensors of the respective motorcades.
The motorcade combination has different combination modes according to different selected characteristics. The motorcade merging features proposed by the invention are of 4 types: merging name, merging number, merging time and merging position. As shown in fig. 4.
The motorcade mergers are distinguished according to whether the motorcade names before and after the mergers are different, and the motorcade mergers comprise 2 types of situations: original name combination and rename combination. The fleet mergers are distinguished according to the number of merged fleets, and comprise 2 types of situations: two-team combination and multi-team combination. The fleet merger, distinguished by merging time order, contains 2 types of scenarios: time-sharing combination and simultaneous combination. The fleet merge contains 3 types of cases, distinguished by the location of the merge: merging at the head of the queue, merging at the tail of the queue and merging in the queue.
The original name merging function implementation process comprises the following steps: the fleet A and the fleet B are combined to form a fleet C, and the name of the fleet C can be the same as that of A or B. Although the names of the fleet before and after merging are the same, the other parameters of the merged fleet are updated. In the specific implementation, the preferable scheme is that C is the same as the name of the fleet with the longer fleet length; when the fleet lengths are equal, the system randomly chooses whether to be the same as a or B. The renaming merging function implementation process comprises the following steps: the fleet A and the fleet B are combined to form a fleet C, and the names C and A, B are different.
The two-team merging function implementation process comprises the following steps: the motorcade A and the motorcade B are combined to form a motorcade C. The multi-team merging function implementation process comprises the following steps: the vehicle group A is merged with a plurality of vehicle groups such as a vehicle group B and a vehicle group C.
The time-sharing merging function implementation process comprises the following steps: different fleets of vehicles are merged with one fleet of vehicles in chronological order, and time-sharing merging is often applicable to merging several smaller fleets of vehicles into one larger fleet of vehicles. Meanwhile, the merging function implementation process comprises the following steps: different fleets of vehicles merge with one and the same fleet of vehicles at the same time, while merging is also often applied to merging several smaller fleets of vehicles into one larger fleet of vehicles.
The queue head merging function implementation process comprises the following steps: the motorcade B is merged to the forefront of the motorcade A, the vehicle serial number of the original motorcade B is kept unchanged after merging, and the vehicle serial number of the original motorcade A is sequentially added with the length of the motorcade B. The queue tail merging function implementation process comprises the following steps: the motorcade B merges to motorcade A's rearmost, and original motorcade A's vehicle serial number remains unchanged after the mergence, and original motorcade B's vehicle serial number adds motorcade A's length in proper order, and the function of merging realizes the flow in the team and is: the fleet B is merged between any two vehicles in the fleet A, merging implementation in the fleet is more complicated than merging at the head of the fleet and merging at the tail of the fleet, and whether enough space is provided for the oncoming merged fleet to drive in must be analyzed through a speed sensor, a distance sensor and the like.
The fleet split can be divided into: temporary splitting and permanent splitting.
The temporary splitting function implementation flow is as follows: when the motorcade passes through the intersection, the motorcade cannot pass through at one time due to the limitation of passing time, or when a part of the motorcade passes through and a high-priority vehicle needs to pass through preferentially, the other vehicles of the motorcade actively give way and are temporarily split into a plurality of small motorcades. And when the temporary splitting condition is not met, combining a plurality of small fleet vehicles into the original fleet vehicle to continuously drive to the destination.
The permanent splitting function implementation process comprises the following steps: when the part of the journey shared by the fleets is finished, the original fleet is split into two or more new fleets.
The motorcade dispersion function implementation process comprises the following steps: after all members of the whole motorcade reach the destination, the motorcade members are not managed uniformly.
The following fleet parameters are defined in the driverless formation management implementation: fleet name, fleet origin, fleet end, fleet length, number of vehicles, fleet speed, fleet spacing, fleet position.
The fleet name is an identification between fleets of vehicles and comprises 2 parts: the current name and the historical name are the same when the conditions such as merging and splitting do not occur, and both are continuously updated along with the motorcade composition. The current name refers to the name of the fleet where the fleet is located at the current moment, and the current name is updated in time after the fleet is merged or split. The historical name is the name before the fleet merge or before the split.
The fleet origin is the departure point of the fleet at a certain time, and comprises 2 parts: original starting point, current starting point. The original starting point is the initial departure point of the fleet, which is constant. The current starting point will be continuously updated with fleet composition. For example, after the fleet B is merged into the fleet a, the fleet B is composed into a new fleet a (the name remains the same), the original starting point of the fleet B is the same, and the current starting point is updated to the location point at which the two fleets are merged.
The fleet end is the destination of the fleet travel and consists of 2 parts: original end point, current end point. The two are the same when merging and splitting do not occur. The original end point is the fleet trip final destination, which is constant at all times. The current terminal point is continuously updated along with the motorcade composition, and the motorcade is different before and after combination. For example, fleet B queries for a common trip with fleet A, prepares to travel to the appropriate location for merging with fleet A, and updates the current destination to the upcoming merging location point (i.e., the starting point of the common trip between the two fleets). After the fleet B is merged into the fleet A, the fleet B is formed into a new fleet A (the name is kept unchanged), the original terminal of the fleet B is unchanged, and the current terminal is updated to be the position point when the two fleets are separated (namely the terminal of the common journey of the two fleets).
The length of the fleet is the maximum allowed number of vehicles in the fleet, the number of the vehicles is the number of the existing vehicles in the current fleet, the speed of the fleet is the constant speed running speed maintained under the normal condition of the whole fleet (except the merging or splitting moment of the fleet), the interval of the fleet is the interval of the vehicles maintained under the normal condition of the whole fleet (except the merging or splitting moment of the fleet), and the position of the fleet comprises 2 parts: the head of the line position and the tail of the line position.
It is worth noting that the control module is configured to monitor information associated with the energy state of each convoy vehicle when convoy and adjust the convoy formation based on a change in the energy state of each convoy vehicle, the convoy control method may further comprise monitoring information related to the energy state of each convoy vehicle while convoy and adjusting the convoy formation based on a change in the energy state of each convoy vehicle, in which criterion the energy required per distance based on the current convoy situation of each convoy vehicle is minimal. Adjusting the formation may further include adjusting the formation in an order in which the recalculated travelable distance of each of the formation vehicles is longer when the travelable coefficient is less than the reference value.
In summary, the present embodiment combines unmanned driving and manned driving, combines a single vehicle and multiple fleets, and realizes merging, splitting and separating of fleets through overall regulation and control, and is suitable for different scenes, including not being limited to training grounds, logistics fields and entertainment facility traffic fields, and combines the destination of each vehicle, thereby greatly saving traffic flow and reducing congestion in operation.
Claims (10)
1. A method for unmanned vehicle formation, comprising the steps of:
step 1: after a current motorcade receives a V2X message sent by an applied motorcade, the current motorcade judges whether the length of the motorcade applied to the current motorcade reaches the length of the motorcade of the current motorcade, if so, step 5 is executed, and if not, step 2 is executed, wherein the motorcade type comprises a manned motorcade and an unmanned motorcade, and the V2X message comprises a motorcade name, a motorcade starting point, a motorcade destination, a motorcade length, a vehicle number, a motorcade speed, a motorcade interval and;
step 2: judging whether the destinations of the current fleet are the same as the destinations of the application fleet by the current fleet, if so, executing the step 3, and if not, executing the step 5, wherein the fleet comprises 2 or more than two vehicles, and all the vehicles in the same fleet have the same vehicle speed, vehicle distance and driving route;
and step 3: the current motorcade is combined with a map module to judge whether the driving routes of the motorcade and the applied motorcade have overlapped routes, if so, the step 4 is executed, and if not, the step 5 is executed;
and 4, step 4: calculating meeting time points and meeting positions of the current motorcade and the applied motorcade according to the motorcade position information, merging the motorcades to obtain a single motorcade, and finishing;
and 5: the current fleet was not successfully merged with the application fleet.
2. The method of claim 1, wherein the step 4 comprises three merging modes of head-of-line merging, tail-of-line merging and mid-of-line merging,
the queue head combination specifically comprises: the method comprises the steps that a motorcade is applied to be merged to the foremost end of a current motorcade to obtain a single motorcade, wherein the serial numbers of vehicles in the applied motorcade are unchanged, and the serial numbers of the vehicles in the current motorcade are accumulated to the total number of the vehicles in the applied motorcade to obtain a new serial number of the vehicles;
the queue tail combination specifically comprises: the method comprises the steps that a motorcade is applied to be merged to the tail end of a current motorcade to obtain a single motorcade, wherein the serial numbers of vehicles in the current motorcade are unchanged, and the serial numbers of the vehicles in the applied motorcade are accumulated to obtain a new serial number of the vehicles in the current motorcade;
the team merging specifically comprises: and applying for merging the motorcades into any two vehicles in the current motorcade to obtain a single motorcade, wherein the vehicle serial numbers in the single motorcade are rearranged to obtain new vehicle serial numbers.
3. The method of claim 1, wherein when the vehicles in the fleet are separated, the separation work is required, specifically comprising temporary separation and permanent separation, the fleet obtains a plurality of small fleets through the temporary separation, wherein the destination of the small fleets is the destination of the fleet before separation, the fleet obtains a plurality of small fleets through the permanent separation, wherein the destinations of the small fleets are different from each other, and the fleet separation work is further included, and when the merged fleet reaches the destination, members in the fleet do not perform unified fleet management any more.
4. A method as claimed in any one of claims 1 to 3, wherein the vehicles in the fleet further comprise a control module, a V2X module, a map module and a sensor module, the sensor module comprises millimeter wave radar, laser radar, ultrasonic radar, a camera and a position sensor for collecting road, pedestrian and environmental parameters, the sensor module sends the collected data to the V2X module and the map module respectively, the map module obtains the traveling routes of the fleet by processing the speed and distance of the fleet, analyzes whether the traveling routes of the two fleets overlap and the overlapped travel length according to the position data of the fleet and other fleet position data, and combines the starting point and the destination point of the respective fleet to predict the meeting time and place with the other fleets when the vehicles travel at the current speed, the V2X module sends and receives the fleet messages under the control of the control module, and the sensor module is matched to provide various data for the operation of the motorcade.
5. A vehicle formation system for unmanned driving is characterized in that vehicles in the system are communicated through a V2X module, and formation among fleets comprises a fleet query function, a fleet merging function, a fleet splitting function and a fleet separating function;
the vehicle is provided with a control module, a V2X module, a map module and a sensor module, the control module is respectively connected with the V2X module and the map module, the sensor module is respectively connected with the V2X module and the map module, the sensor module is used for acquiring behavior data on the vehicle, the behavior data comprises vehicle speed, vehicle distance and vehicle position, the map module obtains a driving route of the vehicle through the processing of the behavior data on the vehicle, and the control module controls the V2X module to send a formation function command;
the motorcade query function is specifically as follows, a current motorcade acquires an enqueue message of an applied motorcade through a V2X module, when the requirement amount of the length of the current motorcade is larger than the length of the motorcade of the applied motorcade, the action data of the applied motorcade is processed through a map module of the current motorcade, when the destination of the current motorcade is consistent with that of the applied motorcade and the driving route is consistent, the meeting time point and the meeting position of the current motorcade and the applied motorcade are calculated, merging is carried out, and the merged motorcade action data are updated, wherein the motorcade merging function comprises four types of merging names.
6. A system for unmanned vehicle formation according to claim 5, wherein the merging location includes three merging means of head-of-line merging, tail-of-line merging and mid-of-line merging,
the queue head combination specifically comprises: the method comprises the steps that a motorcade is applied to be merged to the foremost end of a current motorcade to obtain a single motorcade, wherein the serial numbers of vehicles in the applied motorcade are unchanged, and the serial numbers of the vehicles in the current motorcade are accumulated to the total number of the vehicles in the applied motorcade to obtain a new serial number of the vehicles;
the queue tail combination specifically comprises: the method comprises the steps that a motorcade is applied to be merged to the tail end of a current motorcade to obtain a single motorcade, wherein the serial numbers of vehicles in the current motorcade are unchanged, and the serial numbers of the vehicles in the applied motorcade are accumulated to obtain a new serial number of the vehicles in the current motorcade;
the team merging specifically comprises: and applying for merging the motorcades into any two vehicles in the current motorcade to obtain a single motorcade, wherein the vehicle serial numbers in the single motorcade are rearranged to obtain new vehicle serial numbers.
7. The system of claim 5, wherein the fleet splitting function comprises a temporary split to obtain a plurality of fleet vehicles, and a permanent split to obtain a plurality of fleet vehicles, wherein the fleet vehicles are destined to the fleet vehicle before splitting, and the fleet vehicles are destined to the fleet vehicle after the permanent split to obtain the plurality of fleet vehicles, wherein the fleet vehicles are destined to different destinations, and further comprising a fleet splitting task, wherein when the merged fleet vehicles arrive at the destinations, the members in the fleet vehicles do not perform unified fleet management.
8. A vehicle platooning system for unmanned vehicles according to claim 5, wherein the fleet dismissal functionality is embodied as: when the motorcade reaches the destination, the unified management is not carried out any more, wherein a motorcade master controller is arranged in the motorcade and is a controller of the motorcade, when the motorcade initiator is built in the motorcade, the default motorcade initiator is the master controller of the motorcade, and after the current motorcade is merged with the applied motorcade, the motorcade master controller in the current motorcade is used as the controller of the merged motorcade.
9. The system of claim 5, wherein the fleet name identifies a fleet of vehicles, and comprises a current name and a historical name, the current name is the name of the fleet of vehicles at the time, the current name is updated to a merged name after the fleet is merged or split, and the historical name is the name of the fleet of vehicles before merging or splitting.
10. The system of claim 5, wherein the fleet location comprises a fleet start point and a fleet end point, the fleet start point comprising an original start point and a current start point and the fleet end point comprising an original end point and a current end point, and wherein the merged fleet location is updated to the current start point and the current end point as the merged location.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011039797.8A CN112068571A (en) | 2020-09-28 | 2020-09-28 | Vehicle formation system and method for unmanned driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011039797.8A CN112068571A (en) | 2020-09-28 | 2020-09-28 | Vehicle formation system and method for unmanned driving |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112068571A true CN112068571A (en) | 2020-12-11 |
Family
ID=73683042
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011039797.8A Pending CN112068571A (en) | 2020-09-28 | 2020-09-28 | Vehicle formation system and method for unmanned driving |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112068571A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112598907A (en) * | 2020-12-17 | 2021-04-02 | 东风商用车有限公司 | Congestion prediction method, device, equipment and readable storage medium |
| CN112991795A (en) * | 2021-02-04 | 2021-06-18 | 华南理工大学 | Underground intelligent highway system suitable for unmanned vehicle and scheduling method |
| CN113093764A (en) * | 2021-04-14 | 2021-07-09 | 吉林大学 | Control method based on mixed formation of commercial vehicle and passenger vehicle |
| CN113387099A (en) * | 2021-06-30 | 2021-09-14 | 深圳市海柔创新科技有限公司 | Map construction method, map construction device, map construction equipment, warehousing system and storage medium |
| CN113387098A (en) * | 2021-06-30 | 2021-09-14 | 深圳市海柔创新科技有限公司 | Cargo conveying method, cargo conveying device, electronic equipment and storage medium |
| CN113487854A (en) * | 2021-06-30 | 2021-10-08 | 吉林大学 | Pre-formation management system and method for vehicle cooperative formation on expressway |
| CN113741470A (en) * | 2021-09-10 | 2021-12-03 | 深圳市海柔创新科技有限公司 | Robot team control method and device, robot and scheduling equipment |
| CN113997945A (en) * | 2021-11-25 | 2022-02-01 | 东风悦享科技有限公司 | V2X-based vehicle formation driving system and method |
| CN114419903A (en) * | 2021-12-17 | 2022-04-29 | 东南大学 | Intelligent network connection automobile queue intersection traffic control method and device and vehicle |
| CN117492448A (en) * | 2023-12-28 | 2024-02-02 | 北京主线科技有限公司 | Vehicle formation method, device, equipment and storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105160865A (en) * | 2015-08-05 | 2015-12-16 | 深圳市航盛电子股份有限公司 | Vehicle formation driving control system and method |
| CN105809950A (en) * | 2016-03-28 | 2016-07-27 | 重庆邮电大学 | Vehicle fleet forming method and system based on vehicle road collaboration technology |
| US20160267796A1 (en) * | 2013-11-08 | 2016-09-15 | Honda Motor Co., Ltd. | Convoy travel control apparatus |
| CN110400457A (en) * | 2019-06-25 | 2019-11-01 | 联想(北京)有限公司 | A kind of fleet's control method and electronic equipment |
| CN110775060A (en) * | 2019-10-16 | 2020-02-11 | 南京信息工程大学 | Single-lane double-row type intelligent control system for formation of small cars and formation method |
| US20200175880A1 (en) * | 2018-11-30 | 2020-06-04 | Ford Global Technologies, Llc | Vehicular platoon subscription and management system |
| CN111445690A (en) * | 2020-03-03 | 2020-07-24 | 北京汽车集团有限公司 | Vehicle team driving method, vehicle and system |
-
2020
- 2020-09-28 CN CN202011039797.8A patent/CN112068571A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160267796A1 (en) * | 2013-11-08 | 2016-09-15 | Honda Motor Co., Ltd. | Convoy travel control apparatus |
| CN105160865A (en) * | 2015-08-05 | 2015-12-16 | 深圳市航盛电子股份有限公司 | Vehicle formation driving control system and method |
| CN105809950A (en) * | 2016-03-28 | 2016-07-27 | 重庆邮电大学 | Vehicle fleet forming method and system based on vehicle road collaboration technology |
| US20200175880A1 (en) * | 2018-11-30 | 2020-06-04 | Ford Global Technologies, Llc | Vehicular platoon subscription and management system |
| CN110400457A (en) * | 2019-06-25 | 2019-11-01 | 联想(北京)有限公司 | A kind of fleet's control method and electronic equipment |
| CN110775060A (en) * | 2019-10-16 | 2020-02-11 | 南京信息工程大学 | Single-lane double-row type intelligent control system for formation of small cars and formation method |
| CN111445690A (en) * | 2020-03-03 | 2020-07-24 | 北京汽车集团有限公司 | Vehicle team driving method, vehicle and system |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112598907B (en) * | 2020-12-17 | 2021-12-07 | 东风商用车有限公司 | Congestion prediction method, device, equipment and readable storage medium |
| CN112598907A (en) * | 2020-12-17 | 2021-04-02 | 东风商用车有限公司 | Congestion prediction method, device, equipment and readable storage medium |
| CN112991795A (en) * | 2021-02-04 | 2021-06-18 | 华南理工大学 | Underground intelligent highway system suitable for unmanned vehicle and scheduling method |
| CN113093764A (en) * | 2021-04-14 | 2021-07-09 | 吉林大学 | Control method based on mixed formation of commercial vehicle and passenger vehicle |
| CN113093764B (en) * | 2021-04-14 | 2022-03-11 | 吉林大学 | Control method based on mixed formation of commercial vehicle and passenger vehicle |
| WO2023274177A1 (en) * | 2021-06-30 | 2023-01-05 | 深圳市海柔创新科技有限公司 | Map construction method and apparatus, device, warehousing system, and storage medium |
| CN113487854A (en) * | 2021-06-30 | 2021-10-08 | 吉林大学 | Pre-formation management system and method for vehicle cooperative formation on expressway |
| CN113387098A (en) * | 2021-06-30 | 2021-09-14 | 深圳市海柔创新科技有限公司 | Cargo conveying method, cargo conveying device, electronic equipment and storage medium |
| WO2023273805A1 (en) * | 2021-06-30 | 2023-01-05 | 深圳市海柔创新科技有限公司 | Cargo delivery method and apparatus, electronic device, and storage medium |
| CN113387099A (en) * | 2021-06-30 | 2021-09-14 | 深圳市海柔创新科技有限公司 | Map construction method, map construction device, map construction equipment, warehousing system and storage medium |
| CN113741470A (en) * | 2021-09-10 | 2021-12-03 | 深圳市海柔创新科技有限公司 | Robot team control method and device, robot and scheduling equipment |
| CN113741470B (en) * | 2021-09-10 | 2023-10-03 | 深圳市海柔创新科技有限公司 | Robot team forming control method and device, robot and scheduling equipment |
| CN113997945A (en) * | 2021-11-25 | 2022-02-01 | 东风悦享科技有限公司 | V2X-based vehicle formation driving system and method |
| CN114419903A (en) * | 2021-12-17 | 2022-04-29 | 东南大学 | Intelligent network connection automobile queue intersection traffic control method and device and vehicle |
| CN114419903B (en) * | 2021-12-17 | 2023-02-03 | 东南大学 | Intelligent network connection automobile queue intersection traffic control method and device and vehicle |
| CN117492448A (en) * | 2023-12-28 | 2024-02-02 | 北京主线科技有限公司 | Vehicle formation method, device, equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112068571A (en) | Vehicle formation system and method for unmanned driving | |
| CN109087503B (en) | Vehicle-vehicle cooperation system and method based on V2X | |
| US9779628B2 (en) | Convoy travel system and convoy travel apparatus | |
| JP6726363B2 (en) | Autonomous vehicle monitoring using the generated interface | |
| US11551554B2 (en) | Systems and methods for coordinating movement of assets within a transfer hub | |
| CN113811929A (en) | Combined control of vehicles travelling on different intersecting roads | |
| US20180356835A1 (en) | Method for Moving, in Particular Controlling or Regulating, a Line of Vehicles | |
| CN110276945A (en) | A kind of automatic driving vehicle grouping method | |
| DE102020129456A1 (en) | TRAJECTORY PREDICTION FROM A PRECALCULATED OR DYNAMICALLY GENERATED BANK OF TRAJECTORIES | |
| CN105702018A (en) | Vehicle team driving management method based on cooperative vehicle infrastructure technology | |
| CN112277942A (en) | Queue control method for automatically driving vehicle, vehicle-mounted device and system | |
| US11614962B2 (en) | Scheduling vehicle task offloading and triggering a backoff period | |
| CN114287027B (en) | Method for grouping vehicles in a vehicle train | |
| WO2023087181A1 (en) | Vehicle-road collaborative multi-vehicle path planning and right-of-way decision method and system, and roadbed unit | |
| CN107305737A (en) | A kind of vehicle prioritization system | |
| CN112581747B (en) | Vehicle-road cooperative cargo vehicle fleet organization method, device and system | |
| CN107464436B (en) | Information processing method and device based on vehicle clustering | |
| CN111459149B (en) | Intelligent vehicle formation driving method, device and system | |
| CN111081009A (en) | Vehicle formation driving system based on Internet of vehicles and control method | |
| DE102020114306A1 (en) | ESTIMATE SPEED PROFILES | |
| CN112750318A (en) | Ramp confluence control method and system based on edge cloud | |
| DE102020127425A1 (en) | Autonomous Vehicle Stations | |
| US11475765B2 (en) | Determining the position of a later stopping point of a vehicle | |
| Liu et al. | Resource allocation schemes in multi-vehicle cooperation systems | |
| US20220189311A1 (en) | Waypoint information transmission method, apparatus and system for platooning |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201211 |