CN112256020A - Formation intelligent internet passenger car that traveles based on V2X - Google Patents
Formation intelligent internet passenger car that traveles based on V2X Download PDFInfo
- Publication number
- CN112256020A CN112256020A CN202011022083.6A CN202011022083A CN112256020A CN 112256020 A CN112256020 A CN 112256020A CN 202011022083 A CN202011022083 A CN 202011022083A CN 112256020 A CN112256020 A CN 112256020A
- Authority
- CN
- China
- Prior art keywords
- formation
- vehicle
- driving
- information
- domain controller
- 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
- 230000015572 biosynthetic process Effects 0.000 title claims abstract description 123
- 230000001133 acceleration Effects 0.000 claims abstract description 24
- 238000012545 processing Methods 0.000 claims description 33
- 238000002955 isolation Methods 0.000 claims description 19
- 230000003750 conditioning effect Effects 0.000 claims description 18
- 230000003321 amplification Effects 0.000 claims description 16
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 16
- 238000004891 communication Methods 0.000 claims description 14
- 238000000034 method Methods 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000004927 fusion Effects 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 230000006641 stabilisation Effects 0.000 claims description 3
- 238000011105 stabilization Methods 0.000 claims description 3
- 230000008447 perception Effects 0.000 abstract description 7
- 238000013461 design Methods 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 description 11
- 230000006870 function Effects 0.000 description 8
- 238000001914 filtration Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 241000497429 Obus Species 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- SAZUGELZHZOXHB-UHFFFAOYSA-N acecarbromal Chemical compound CCC(Br)(CC)C(=O)NC(=O)NC(C)=O SAZUGELZHZOXHB-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000010267 cellular communication Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 230000004044 response Effects 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0295—Fleet control by at least one leading vehicle of the fleet
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a V2X-based intelligent networked passenger car for formation driving, which comprises a sensing and positioning device, a V2X information interconnection system and a chassis domain controller, wherein the sensing and positioning device is connected with an automatic driving domain controller; the automatic driving domain controller decides the driving state of the formation according to the collected multi-source information and outputs the target speed and acceleration tracked by the path; the perception positioning device comprises an environment perception unit and a positioning navigation unit; the V2X information interconnection system broadcasts bus status information to other fleet vehicles; the chassis domain controller is used for path tracking control of the networked passenger car, drives the electronic throttle through the CAN bus to perform acceleration control, performs deceleration control through motor braking and service braking, and sends a traveling command request for straight traveling, left turning or right turning to the steering motor controller through the CAN bus. The formation driving cooperative control of multiple passenger cars can be realized, and the chassis domain controller hardware adopts a dual-redundancy design, so that the stability, safety and reliability of formation driving are improved.
Description
Technical Field
The invention belongs to the technical field of intelligent networked automatic driving automobiles, and particularly relates to a V2X-based intelligent networked passenger car for formation driving.
Background
With the rapid development and application of the 5G technology, the intelligent internet technology and the intelligent road technology, the automobile will become one terminal of the intelligent transportation system, and the data communication and contact between the automobile and between the automobile and the surroundings become more and more compact and frequent. The intelligent internet passenger car centrally applies technologies such as intelligent control, V2X (vehicle evolution) information interconnection, machine vision, navigation positioning, information fusion and the like, realizes autonomous control and formation driving of vehicles, can ensure driving maneuverability and safety of the vehicles, and does not need to be controlled by a driver. The appearance of the intelligent internet bus fundamentally changes the control mode of the traditional bus and the travel mode of urban and rural residents, can greatly improve the safety and the passing efficiency of a modern traffic system, reduce the environmental pollution and provide other information services.
Application No.: 201910123370.7 discloses an automatic driving vehicle, method and device based on V2X, which uses a plurality of sensors and a plurality of radars to identify lane lines and obstacles, combines V2X to identify the front vehicle, adopts GPS positioning and generates a driving path through a control module. Application No.: 201710083950.9 discloses a method for intelligent vehicle formation driving, wherein the vehicle getting obtains the information of the vehicle and sends it to the vehicle, the vehicle analyzes the subsidized planning path of the vehicle getting and completes the following control of the vehicle getting, and the vehicle getting keep a certain relative distance and speed. Application No.: 201710184207.2 patent application of Chinese invention discloses a motorcade formation driving system and method, wherein a first vehicle is driven manually, and at least one slave vehicle can automatically drive along with the first vehicle, so as to reduce the error rate and labor intensity of drivers. Application No.: US patent application No. US15989805 discloses an automatic driving system capable of making an appropriate planned route according to the current state of an automobile and preventing an improper driving route planning of the automobile in an abnormal state such as rainy or snowy weather by presetting a control target value of the automobile.
For the above-mentioned several patents: the existing intelligent networked automobile mostly aims at passenger cars or trucks, and mostly only aims at single vehicles or fixed head cars/main cars adopt a manual or automatic driving mode, and the formation running cooperative control of multiple passenger cars is not realized; most of the existing intelligent networked automobiles can only track a pre-calibrated route to drive and cannot deal with complex traffic scenes; the existing intelligent networked automobile is difficult to realize autonomous driving under the condition of lacking a high-precision map and a road side unit; therefore, the existing intelligent networked passenger car is difficult to completely and independently form a formation to run under the complex road conditions of the real city.
Disclosure of Invention
Aiming at the technical problems, the invention aims to provide the intelligent networked passenger car for formation driving based on V2X, the formation driving cooperative control of multiple passenger cars is realized, and the dual-redundancy design is adopted by the hardware of the chassis domain controller, so that the stability, the safety and the reliability of formation driving are improved.
The technical scheme of the invention is as follows:
a formation driving intelligent networked passenger car based on V2X comprises a sensing positioning device and a V2X information interconnection system, wherein the sensing positioning device is connected with an intelligent networked automatic driving domain controller;
the intelligent networked automatic driving domain controller is used for processing multi-source information acquired by the sensing and positioning device through a coupling algorithm data, outputting intelligent networked passenger car state information in real time, constructing a route tracking map, positioning self direction and posture according to the information of the intelligent networked passenger car, the information around the vehicle and the map information in the automatic driving process, realizing automatic driving and navigation, performing algorithm fusion according to the current state data of all formation vehicles, planning a driving path, deciding the formation driving state, and outputting the target speed and the target acceleration of path tracking to the intelligent networked chassis domain controller according to the decided formation driving state;
the sensing and positioning device comprises an environment sensing unit and a positioning and navigation unit, wherein the environment sensing unit is used for acquiring the self posture of the intelligent networked passenger car and the surrounding environment information of the intelligent networked passenger car in running, and the positioning and navigation unit is used for acquiring the position, the speed and the direction of the intelligent networked passenger car in real time;
the V2X information interconnection system is used for acquiring real-time vehicle information, road information and pedestrian information and comprises a WIFI whip antenna, a CAN bus and an Ethernet line, the vehicle-mounted unit and the whole vehicle end carry out data communication through the CAN bus and the Ethernet line, the vehicle-mounted unit broadcasts the state information of the intelligent internet bus to other formation vehicles in a CAN data channel transparent transmission mode, and each formation vehicle receives broadcast data through the Ethernet channel;
the intelligent network connection chassis domain controller is used for path tracking control of a network connection passenger car and comprises speed control and direction control, the speed control drives an electronic throttle through a CAN bus to perform acceleration control, the deceleration control is performed through motor braking and driving braking, the direction control drives a motor through the CAN bus to perform direction control, and the chassis domain controller sends a straight-going, left-turning or right-turning advancing command request to a steering motor controller through the CAN bus according to position information, course information and steering information of the passenger car.
In a preferred technical scheme, the speed control method of the intelligent networked chassis domain controller comprises the steps of calculating expected acceleration through a vehicle speed control law according to deviation between an actual vehicle speed and an expected vehicle speed, and controlling a vehicle to run according to the expected vehicle speed through cooperative control of an electronic accelerator and motor braking.
In the preferred technical scheme, the environment perception unit comprises 1 laser radar, 4 intermediate range angle millimeter wave radars, 5 vehicle-mounted cameras and a plurality of ultrasonic radars, the laser radar communicates with the intelligent network connection automatic driving domain controller through the Ethernet, the millimeter wave radars communicate with the intelligent network connection automatic driving domain controller through a high-speed CAN bus, and the vehicle-mounted cameras and the ultrasonic radars communicate with the intelligent network connection automatic driving domain controller through a low-speed CAN bus.
In a preferred technical scheme, the intelligent network chassis domain controller comprises an input conditioning circuit, an output conditioning circuit, a processor, a power module and a communication module, wherein the power module carries out voltage stabilization and voltage division processing on direct current provided by a vehicle-mounted direct current power supply and supplies power to the processor and each conditioning circuit, the input conditioning circuit comprises a multi-channel analog signal processing circuit, a digital signal processing circuit and a switch signal processing circuit, the analog signal processing circuit is used for a photoelectric isolation circuit, an RC filtering circuit and an amplification steering angular displacement signal and a brake pressure signal, the switch signal processing circuit is used for photoelectric isolation, RC filtering circuit and level amplitude limiting hand brake, a vehicle door and a transmission gear signal, the digital signal processing circuit is used for photoelectric isolation, RC filtering circuit and amplification wheel speed and vehicle speed, the output conditioning circuit comprises a multi-channel frequency driving circuit, a switch driving circuit and a digital driving circuit, the frequency driving circuit drives a driving brake solenoid valve after signal amplification and photoelectric isolation processing, the switch driving circuit drives a hand brake switch, a steering lamp and a car door switch after signal amplification and photoelectric isolation processing, and the digital driving circuit drives gears after signal amplification and photoelectric isolation processing; and the processor sends driving control instructions for motor steering, motor braking and electronic throttle through a vehicle CAN bus.
In a preferred technical scheme, the intelligent networked automatic driving domain controller decides the formation driving state, wherein the method comprises the steps of establishing a vehicle distance control nonlinear control model according to a current vehicle speed interval, judging and adjusting a current master vehicle according to the current formation state, or judging and adjusting the current master vehicle according to the current formation state, or generating a new master vehicle according to the current formation topological form, a formation path, the distance between intelligent networked passenger vehicles in the formation, the formation driving speed, the target formation topological form, the formation path, the distance between the intelligent networked passenger vehicles in the formation, the formation driving speed and the actual state of each vehicle in the formation when a current slave vehicle applies to become the master vehicle.
In the preferred technical scheme, a WIFI whip antenna in the V2X information interconnection system is connected with a vehicle-mounted unit, and the WIFI whip antenna broadcasts an identity mark, a vehicle speed, an acceleration, a steering angle, a course angle and longitude and latitude positioning information of a vehicle; the WIFI whip antenna receives broadcast information of other buses in the formation, the broadcast information comprises identity marks, vehicle speed, acceleration, steering angle, course angle and longitude and latitude positioning information, the WIFI whip antenna inputs the received broadcast information into the vehicle-mounted unit, and the vehicle-mounted unit sends the broadcast information to the intelligent internet automatic driving domain controller through the Ethernet channel.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention can realize the formation driving cooperative control of a plurality of passenger cars, can realize the complete autonomous formation driving under the complex road conditions of a real city, and improves the stability, the safety and the reliability of formation driving because the hardware of the chassis domain controller adopts the dual redundancy design.
2. The formation system can reselect the authenticated main car according to the actual form of the current formation and the actual state needs of the current main car and the current slave car, thereby realizing formation running of the non-fixed main car and ensuring the stability, safety and reliability of formation running.
Drawings
The invention is further described with reference to the following figures and examples:
FIG. 1 is a schematic block diagram of a V2X-based intelligent networked passenger vehicle for formation driving;
FIG. 2 is a system architecture diagram of the present invention based on V2X for formation driving intelligent networked passenger car;
FIG. 3 is a block diagram of a chassis area controller of the intelligent networked passenger car of the present invention;
FIG. 4 is a flow chart of the control of the formation driving of the passenger cars.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Example (b):
as shown in fig. 1 and 2, the intelligent networked passenger car for formation driving based on V2X realizes formation driving based on V2X, has various autonomous formation driving modes, and can realize intelligent transportation cloud platform big data monitoring by adopting a 5G communication technology. The intelligent networked passenger car integrates the intelligent control of the passenger car, V2X information interconnection, environment perception, planning navigation and human-computer interaction into a whole, and can recognize road signs, autonomously overtake, autonomously avoid, automatically close to the side for parking and the like. The intelligent internet automatic driving domain control system comprises the following modules, an intelligent internet automatic driving domain controller, a sensing positioning device and a V2X information interconnection system, wherein the sensing positioning device and the V2X information interconnection system are connected with the intelligent internet automatic driving domain controller, each intelligent internet passenger car is provided with a vehicle-mounted unit, and the intelligent internet automatic driving domain controller is further connected with an intelligent internet chassis domain controller.
The modules are specifically described as follows:
1. intelligent network-connected chassis domain controller
The intelligent networked passenger car is not provided with a pedal, a steering wheel and a cab, and the motion control of the passenger car is completed through a chassis domain controller. As shown in fig. 3, the intelligent network-connected chassis domain controller adopts a centralized electronic and electrical architecture and fully adopts a patch type sensor, thereby effectively reducing the software and hardware development difficulty and the sensor installation difficulty and cost, and mainly structurally comprises an input conditioning circuit, an output conditioning circuit, a processor, a power module and a communication module.
And the chassis domain controller power supply module carries out voltage stabilization and voltage division treatment on the direct current provided by the vehicle-mounted direct current power supply and supplies power to the processor and each conditioning circuit. According to different processing and quantity requirements of the measuring signals of the sensor, the input conditioning circuit of the chassis domain controller comprises a plurality of analog signal processing circuits, a plurality of digital signal processing circuits and a plurality of switch signal processing circuits, wherein the analog signal processing circuits adopt analog voltage signals such as photoelectric isolation, RC filtering and amplification steering angular displacement, brake pressure and the like, the switch signal processing circuits are used for switch voltage signals such as photoelectric isolation, RC filtering and level amplitude limiting hand brake, a vehicle door, a transmission gear and the like, and the digital signal processing circuits are used for digital signals such as photoelectric isolation, RC filtering and amplification wheel speed, vehicle speed and the like.
The output conditioning circuit comprises a multi-channel frequency driving circuit, a multi-channel switch driving circuit and a multi-channel digital driving circuit, the frequency driving circuit drives the driving brake electromagnetic valve after signal amplification and photoelectric isolation processing, the switch driving circuit drives the hand brake switch, the steering lamp and the vehicle door switch after signal amplification and photoelectric isolation processing, and the digital driving circuit drives gears after signal amplification and photoelectric isolation processing. The hardware of the chassis domain controller adopts a dual redundancy design, and the system safety is improved.
The chassis domain controller obtains the position and the state of the whole vehicle and the target requirement through a vehicle CAN network and each input conditioning circuit, and the processor performs comprehensive operation processing on the real-time information and outputs a control instruction. The processor of the chassis area controller realizes the drive control of the motor steering, the motor braking and the electronic throttle through a vehicle CAN line network, thereby realizing the accurate control of the speed and the direction of the intelligent network passenger car. The control instructions of the processor of the chassis domain controller are processed by signal amplification, photoelectric isolation and the like of the output conditioning circuit, and then drive the corresponding service brake solenoid valve, the hand brake switch, the vehicle door switch, the steering lamp, the brake lamp, the gear and the like to control.
2. V2X information interconnection system
V2X mainly includes Vehicle-to-Vehicle V2V (e.g., collision avoidance), Vehicle-to-person V2P (e.g., safety warning), Vehicle-to-traffic-side Infrastructure V2I (e.g., traffic lights), Vehicle-to-Network V2N (e.g., Vehicle-to-Network, such as providing real-time traffic reports, cloud services, etc.), and information interconnections between terminals of various entities that may affect the Vehicle, as shown in fig. 1. The V2X adopts an LTE-V communication technology, provides a series of traffic information such as real-time vehicle information, road information and pedestrian information for the intelligent networked passenger car, provides a remote environment signal, and provides information support and fault-tolerant redundancy for the automatic driving system planning, decision making, control and the like of the intelligent networked passenger car formation. The LTE-V includes two communication interfaces, one is a short-distance direct communication interface PC5 such as V2V and V2I, and the other is a cellular communication interface Uu which realizes reliable communication over a long distance of V2N and a larger range.
The V2X information interconnection is mainly completed through an On Board Unit (OBU) host, and the V2X information interconnection also comprises necessary auxiliary equipment such as a WIFI whip antenna, a CAN patch cord, an Ethernet cord and a 12V-converted DC/DC power adapter. Each intelligent networked passenger car in a formation is provided with an OBU, the OBUs and the whole car end are in data communication through CAN lines and Ethernet lines, data information such as marks, speeds, accelerations, steering angles, course angles, longitude and latitude positioning and the like of the intelligent networked passenger cars are broadcasted to other formation vehicles by means of CAN data channel transparent transmission, and after the formation passenger cars receive the broadcast data through the Ethernet channels, current state data of all the formation vehicles are subjected to algorithm fusion, so that a driving path is reasonably planned, and a vehicle intelligent control system is instructed to realize a multi-car formation driving function. The data transmission and transparent transmission channels are smooth, the packet loss rate is low, and the accuracy rate is 100%.
The traffic flow condition of the road ahead can be obtained before the vehicle enters the congested road section, so that reasonable path planning can be carried out, waiting can be avoided, or the route can be reselected, and the traffic operation efficiency is improved.
3. Perception positioning set
In the automatic driving intelligent internet connection passenger car running in a formation, the sensing and positioning set realizes two functions of environment sensing and positioning navigation, and the environment sensing is responsible for acquiring information required by automatic driving of the intelligent internet connection passenger car, including sensing the self posture of the intelligent internet connection passenger car, the running surrounding environment of the intelligent internet connection passenger car and the like, so that a timely, accurate and reliable decision-making basis is provided for safe running of the automatic driving intelligent internet connection passenger car. Based on the characteristics of the functions, the performances and the working conditions of all the sensing devices, the intelligent networked passenger car adopts a design scheme of multi-sensor sensing and information fusion, and gives consideration to information redundancy safety. The environment sensing system of each intelligent networked passenger car which is in formation driving comprises 1 laser radar, 4 intermediate-distance angle millimeter-wave radars, 5 vehicle-mounted cameras and a plurality of ultrasonic radars. The laser radar is communicated with the intelligent driving area controller through the Ethernet, the millimeter wave radar is communicated with the intelligent driving area controller through a high-speed CAN line, and the vehicle-mounted vision camera and the ultrasonic radar are communicated with the intelligent driving area controller through a low-speed CAN bus.
Positioning navigation is used to provide information about the position, direction, etc. of the vehicle. The invention adopts GNSS + INS-based combined positioning navigation, and the system consists of an INS inertial gyro navigation unit, a double-antenna RTK satellite navigation receiver and a 5G difference module. And the 5G difference module receives RTCM difference information such as positions and the like through a 5G network and sends the RTCM difference information to the satellite navigation board card. And the navigation computer receives the information of the 3-axis inertial gyroscope and the guide card and obtains the accurate position, speed and direction of a system carrier, namely the intelligent networked passenger car in real time.
4. Automatic driving area controller
The vehicle-mounted automatic driving domain controller processes the multi-source information acquired by the sensing and positioning set through a coupling algorithm, outputs accurate data such as the posture, the direction, the position, the speed, the acceleration and the like of a carrier (namely an intelligent networked passenger car) in real time, provides information safety redundancy, constructs a route tracking map at the same time, and positions the direction and the posture of the vehicle according to the information of the vehicle and the surrounding of the vehicle and the map information during the driving process according to the automatic driving moment of the intelligent networked passenger car so as to realize automatic driving and navigation. In addition, the intelligent internet bus also adopts a human-computer interaction system for information interaction between a security officer and the vehicle, and the security officer can realize the functions of vehicle parameter query setting, control instruction issuing, automatic driving mode switching, audio-video entertainment system control and the like through voice control and touch screen keys.
Formation driving of passenger cars
As shown in FIG. 2, OBUs are mounted on each bus in the formation (≧ 2 buses). The control when the passenger cars are platooned is shown in fig. 4. The formation driving control flow is as follows:
1) the intelligent networked passenger car selects a formation driving mode when systems such as the intelligent networked passenger car, a chassis domain controller, a perception positioning set sensor, an automatic driving domain controller and the like are powered on;
2) the sensing and positioning set sensor acquires environmental sensing information such as lanes, traffic and the like, the chassis domain controller acquires information such as vehicle speed, acceleration, steering angle and the like, and the sensing and positioning set sensor and the chassis domain controller transmit the acquired information to the automatic driving domain controller;
3) after the automatic driving area controller processes the information, the information is transmitted to the OBU in a CAN data channel transparent transmission mode, the whip antenna is connected with the OBU, and the whip antenna broadcasts the information such as the identity mark, the speed, the acceleration, the steering angle, the course angle, the longitude and latitude positioning and the like of the self-vehicle;
4) meanwhile, the whip antenna receives broadcast information of other passenger cars (other cars) in the formation, and the broadcast information also comprises information such as identity marks, car speeds, accelerations, steering angles, course angles, longitude and latitude positioning and the like;
5) broadcast information received by the whip antenna is input into the OBU, and the OBU sends the broadcast information to the automatic driving area controller through an Ethernet channel;
6) the automatic driving domain controller performs fusion operation on chassis domain controller information, perception positioning set information and information downloaded by the OBU, analyzes formation driving states, such as whether formation topology, inter-vehicle distance, driving paths, vehicle speed and the like are reasonable or not, and further decides the optimal formation driving state of the intelligent networked passenger vehicle, including formation topology form of the unfixed main vehicle, formation paths, distance between the intelligent networked passenger vehicles in the formation, formation driving speed and the like;
7) the automatic driving domain controller outputs the target speed and the target acceleration of the path tracking to the chassis domain controller according to the optimal formation driving state decision result;
8) the chassis domain controller realizes path tracking control of the networked passenger car, wherein the speed control drives the electronic throttle through the CAN bus to perform acceleration control, the speed control performs deceleration control through motor braking and service braking, and the direction control drives the motor through the CAN bus to perform direction control;
9) during speed control, the chassis domain controller calculates expected acceleration through a vehicle speed control law according to the deviation between the actual vehicle speed and the expected vehicle speed, and further realizes that the vehicle runs stably according to the expected vehicle speed through the cooperative control of an electronic accelerator and motor braking;
10) during direction control, the chassis domain controller sends traveling command requests such as straight traveling, left turning or right turning to the steering motor controller through the CAN according to the position information, the course information and the steering information of the passenger car, and accurate tracking of the intelligent networked passenger car route is achieved.
In the formation driving process, in order to ensure that the current slave vehicle can quickly and accurately follow the current master vehicle speed, the vehicle speed control law adopts a feedforward and feedback control strategy to decide the expected acceleration of the intelligent networked passenger vehicle, the current master vehicle acceleration information is used as a feedforward quantity to realize quick response of the state, the following error and the speed difference are used as feedback quantities to reduce the control error, and meanwhile, in order to avoid the phenomena of frequent acceleration and braking of the passenger vehicle, the formation establishes a vehicle distance control nonlinear control model according to the current vehicle speed (divided into three sections of low speed, medium speed and high speed), and the influence of actual communication delay is considered. If the network of the former main vehicle is in fault, or the formation system considers that the current main vehicle should be adjusted according to the current formation state, or when the current slave vehicle applies for becoming the main vehicle, the formation system reselects and generates a new main vehicle according to the current formation topological form, the formation path, the distance between the intelligent networked passenger vehicles in the formation, the formation running speed, the target formation topological form, the formation path, the distance between the intelligent networked passenger vehicles in the formation, the formation running speed and the actual state of each vehicle in the formation, thereby realizing the formation running of the non-fixed main vehicle and ensuring the stability, the safety and the reliability of the formation running.
The traffic peak can be formed by a plurality of vehicles to run, the off-peak period can be formed by a few vehicles to run, or one vehicle runs, and more possibilities are provided for scientific and reasonable scheduling of the intelligent internet passenger car.
The automatic driving formation driving function of the intelligent networked passenger car specifically realized by the invention comprises the following steps:
the automatic driving domain controller is used as an arbitration controller of a control mode, judges whether the conditions of the automatic driving and formation modes are met or not, and determines whether the automatic driving and formation modes are entered or not at present;
the formation driving application 5G realizes the networking V2X technology, the V2X and sensor fusion technology, the formation driving and intelligent scheduling cooperation technology, the formation driving control strategy, the formation driving function safety and information safety technology and the like. The performance advantages of low time delay, large bandwidth and high speed of 5G are utilized to ensure the safety, synchronism, smoothness and stability of vehicle formation driving;
the formation system can elect the authenticated main car again according to the actual form of the current formation and the actual state requirements of the current main car and the current auxiliary car, thereby realizing formation running of the non-fixed main car and ensuring the stability, safety and reliability of the formation running;
under the condition of no manual intervention, a formation fleet adopts a non-fixed main vehicle mechanism, vehicles of each formation fleet can automatically change lanes, accelerate and overtake each other, passenger vehicles running in the formation of the main road can automatically depart from the formation and enter a branch road to run, and meanwhile, intelligent networked passenger vehicles running alone in the branch road can automatically join in the running automatic driving formation when converging into the main road;
the functions of traffic light identification and communication, pedestrian avoidance, active lane change, obstacle avoidance, active overtaking, tunnel passing, hump bridge passing, car following, station entering, accurate stopping, crossroad passing, vehicle-road coordination and the like can be realized, and the capacity of batch operation is realized; the specific implementation of the functions can be implemented by using the existing public technology, which is not described in detail in this application.
And the traffic safety is improved. Under severe weather environment conditions such as heavy fog, rain, snow, darkness and the like, the vehicle can still accurately acquire information such as the position, the running speed, the acceleration and the like of the surrounding vehicle, the traffic information around the vehicle can still be accurately acquired in real time even at intersections of special road conditions (such as trees and high-rise shelters), and particularly when the vehicle follows, the rear vehicle can pre-judge and timely control the braking of the vehicle by acquiring the dragged deceleration information in real time, so that the occurrence of rear-end collision accidents of the vehicle is prevented, and the braking smoothness is improved;
it is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (6)
1. A formation driving intelligent internet bus based on V2X comprises a sensing positioning device connected with an intelligent internet automatic driving domain controller and a V2X information interconnection system, and is characterized in that the intelligent internet bus carries a vehicle-mounted unit, and the intelligent internet automatic driving domain controller is also connected with an intelligent internet chassis domain controller;
the intelligent networked automatic driving domain controller is used for processing multi-source information acquired by the sensing and positioning device through a coupling algorithm data, outputting intelligent networked passenger car state information in real time, constructing a route tracking map, positioning self direction and posture according to the information of the intelligent networked passenger car, the information around the vehicle and the map information in the automatic driving process, realizing automatic driving and navigation, performing algorithm fusion according to the current state data of all formation vehicles, planning a driving path, deciding the formation driving state, and outputting the target speed and the target acceleration of path tracking to the intelligent networked chassis domain controller according to the decided formation driving state;
the sensing and positioning device comprises an environment sensing unit and a positioning and navigation unit, wherein the environment sensing unit is used for acquiring the self posture of the intelligent networked passenger car and the surrounding environment information of the intelligent networked passenger car in running, and the positioning and navigation unit is used for acquiring the position, the speed and the direction of the intelligent networked passenger car in real time;
the V2X information interconnection system is used for acquiring real-time vehicle information, road information and pedestrian information and comprises a WIFI whip antenna, a CAN bus and an Ethernet line, the vehicle-mounted unit and the whole vehicle end carry out data communication through the CAN bus and the Ethernet line, the vehicle-mounted unit broadcasts the state information of the intelligent internet bus to other formation vehicles in a CAN data channel transparent transmission mode, and each formation vehicle receives broadcast data through the Ethernet channel;
the intelligent network connection chassis domain controller is used for path tracking control of a network connection passenger car and comprises speed control and direction control, the speed control drives an electronic throttle through a CAN bus to perform acceleration control, the deceleration control is performed through motor braking and driving braking, the direction control drives a motor through the CAN bus to perform direction control, and the chassis domain controller sends a straight-going, left-turning or right-turning advancing command request to a steering motor controller through the CAN bus according to position information, course information and steering information of the passenger car.
2. The V2X-based formation driving intelligent networked passenger car according to claim 1, wherein the speed control method of the intelligent networked chassis domain controller comprises the steps of calculating a desired acceleration through a vehicle speed control law according to the deviation between an actual vehicle speed and a desired vehicle speed, and controlling the vehicle to drive according to the desired vehicle speed through the cooperative control of an electronic accelerator and a motor brake.
3. The V2X-based formation-driving intelligent Internet-of-things bus of claim 1, wherein the environment sensing unit comprises 1 laser radar, 4 medium-distance angle millimeter wave radars, 5 vehicle-mounted cameras and a plurality of ultrasonic radars, the laser radar communicates with an intelligent Internet-of-things automatic driving domain controller through the Ethernet, the millimeter wave radars communicate with the intelligent Internet-of-things automatic driving domain controller through a high-speed CAN bus, and the vehicle-mounted cameras and the ultrasonic radars communicate with the intelligent Internet-of-things automatic driving domain controller through a low-speed CAN bus.
4. The V2X-based formation-driving intelligent networked passenger car according to claim 1, wherein the intelligent networked chassis domain controller comprises an input conditioning circuit, an output conditioning circuit, a processor, a power module and a communication module, the power module performs voltage stabilization and voltage division processing on direct current provided by a vehicle-mounted direct current power supply and supplies power to the processor and each conditioning circuit, the input conditioning circuit comprises a plurality of paths of analog signal processing circuits, a digital signal processing circuit and a switching signal processing circuit, the analog signal processing circuits are used for a photoelectric isolation circuit, an RC filter circuit and a steering angle displacement amplification circuit and a brake pressure signal, the switching signal processing circuit is used for photoelectric isolation, RC filter circuit and a level limiting handbrake, a car door and a transmission gear signal, the digital signal processing circuit is used for photoelectric isolation, RC filter circuit and an amplification wheel speed, and a speed limiting circuit, The vehicle speed control system comprises a vehicle speed control system, an output conditioning circuit and a control circuit, wherein the output conditioning circuit comprises a multi-channel frequency driving circuit, a switch driving circuit and a digital driving circuit, the frequency driving circuit drives a driving brake solenoid valve after signal amplification and photoelectric isolation processing, the switch driving circuit drives a hand brake switch, a steering lamp and a vehicle door switch after signal amplification and photoelectric isolation processing, and the digital driving circuit drives gears after signal amplification and photoelectric isolation processing; and the processor sends driving control instructions for motor steering, motor braking and electronic throttle through a vehicle CAN bus.
5. The V2X-based formation driving intelligent networked passenger car according to claim 1, wherein the intelligent networked automatic driving domain controller decides the formation driving state, including establishing a vehicle distance control nonlinear control model according to the current vehicle speed interval, judging and adjusting the current master car according to the current formation state or judging and adjusting the current master car according to the current formation state when a current slave car is applied to become the master car, and generating a new master car according to the current formation topological form, the formation path, the distance between intelligent networked passenger cars in the formation, the formation driving speed and the target formation topological form, the formation path, the distance between the intelligent networked passenger cars in the formation, the formation driving speed and the actual state of each car in the formation and a set election algorithm.
6. The V2X-based intelligent networked passenger car for formation driving according to claim 1, wherein a WIFI whip antenna in the V2X information interconnection system is connected with the vehicle-mounted unit, and broadcasts an identity mark, a speed, an acceleration, a steering angle, a course angle and longitude and latitude positioning information of the vehicle; the WIFI whip antenna receives broadcast information of other buses in the formation, the broadcast information comprises identity marks, vehicle speed, acceleration, steering angle, course angle and longitude and latitude positioning information, the WIFI whip antenna inputs the received broadcast information into the vehicle-mounted unit, and the vehicle-mounted unit sends the broadcast information to the intelligent internet automatic driving domain controller through the Ethernet channel.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011022083.6A CN112256020A (en) | 2020-09-25 | 2020-09-25 | Formation intelligent internet passenger car that traveles based on V2X |
| PCT/CN2021/127695 WO2022063331A1 (en) | 2020-09-25 | 2021-10-29 | V2x-based formation driving networked intelligent passenger vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011022083.6A CN112256020A (en) | 2020-09-25 | 2020-09-25 | Formation intelligent internet passenger car that traveles based on V2X |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112256020A true CN112256020A (en) | 2021-01-22 |
Family
ID=74233156
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011022083.6A Pending CN112256020A (en) | 2020-09-25 | 2020-09-25 | Formation intelligent internet passenger car that traveles based on V2X |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN112256020A (en) |
| WO (1) | WO2022063331A1 (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113200003A (en) * | 2021-06-18 | 2021-08-03 | 北京理工华创电动车技术有限公司 | Multi-domain integrated control system and method for whole commercial vehicle |
| CN113460066A (en) * | 2021-08-11 | 2021-10-01 | 东南大学 | Method for detecting vehicle data transmission accuracy in automatic driving vehicle queue |
| CN113511203A (en) * | 2021-07-01 | 2021-10-19 | 宁波吉利汽车研究开发有限公司 | Vehicle formation following driving control method, system, equipment and storage medium |
| CN113885528A (en) * | 2021-11-02 | 2022-01-04 | 苏州挚途科技有限公司 | Fixed time convergence formation control system and method of dynamic event trigger mechanism |
| 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 |
| WO2022063331A1 (en) * | 2020-09-25 | 2022-03-31 | 金龙联合汽车工业（苏州）有限公司 | V2x-based formation driving networked intelligent passenger vehicle |
| CN114319187A (en) * | 2021-12-02 | 2022-04-12 | 北京国家新能源汽车技术创新中心有限公司 | Intelligent network connection automobile control access gate system |
| CN114783170A (en) * | 2022-05-17 | 2022-07-22 | 厦门金龙联合汽车工业有限公司 | Intelligent unmanned vehicle formation system |
| CN114919599A (en) * | 2022-05-17 | 2022-08-19 | 厦门金龙联合汽车工业有限公司 | Device for realizing vehicle formation on automatic driving vehicle |
| CN115052023A (en) * | 2022-08-15 | 2022-09-13 | 理工雷科智途(北京)科技有限公司 | Advanced driver assistance system data transmission method and device |
| CN115497313A (en) * | 2022-08-12 | 2022-12-20 | 黑芝麻智能科技(重庆)有限公司 | Internet fleet intelligent cooperative control method and system, electronic equipment and storage medium |
| CN115583249A (en) * | 2022-12-13 | 2023-01-10 | 深圳佑驾创新科技有限公司 | Modular automatic driving hardware system |
Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114866372A (en) * | 2022-04-22 | 2022-08-05 | 锦图计算技术(深圳)有限公司 | Intelligent security gateway in driving area |
| CN114783186B (en) * | 2022-04-26 | 2022-11-22 | 交通运输部公路科学研究所 | Optimal layout method and system for road risk early warning controller in intelligent networking environment |
| CN114995405A (en) * | 2022-05-19 | 2022-09-02 | 同济大学 | AGV cooperative handling method based on open dynamic environment multi-target cooperative theory |
| CN115240445B (en) * | 2022-07-06 | 2023-09-29 | 上海电气集团智能交通科技有限公司 | V2X intersection priority method based on magnetic nails |
| CN115206081A (en) * | 2022-07-07 | 2022-10-18 | 智道网联科技(北京)有限公司 | Formation control system for autonomous vehicles |
| CN115240403B (en) * | 2022-07-28 | 2023-10-10 | 同济大学 | Formation driving control method of danger sensitivity type |
| CN115311839B (en) * | 2022-08-03 | 2024-05-17 | 九识(苏州)智能科技有限公司 | Method for low-speed automatic driving vehicle team to pass through complex scene |
| CN115457763B (en) * | 2022-08-15 | 2023-08-29 | 同济大学 | Intelligent network train team topological structure with backward following function and formation method thereof |
| CN115273450B (en) * | 2022-08-19 | 2023-10-17 | 北京航空航天大学 | Channel changing method for vehicles entering formation under network automatic driving environment |
| CN115384528A (en) * | 2022-09-05 | 2022-11-25 | 中兴智能汽车有限公司 | Centralized chassis domain control architecture and method |
| CN116125983A (en) * | 2023-01-03 | 2023-05-16 | 广州汽车集团股份有限公司 | Vehicle speed limit adjustment method, device, electronic equipment and storage medium |
| CN116257069B (en) * | 2023-05-16 | 2023-08-08 | 睿羿科技(长沙)有限公司 | Unmanned vehicle formation decision and speed planning method |
| CN116390148B (en) * | 2023-06-02 | 2023-08-11 | 联友智连科技有限公司 | Communication distance testing method and device for C-V2X wireless communication equipment |
| CN117022146B (en) * | 2023-06-16 | 2024-06-11 | 智达信科技术股份有限公司 | Double-domain electronic and electric architecture of passenger vehicle, working method and passenger vehicle |
| CN116740956A (en) * | 2023-06-29 | 2023-09-12 | 西部科学城智能网联汽车创新中心(重庆)有限公司 | Intelligent networking vehicle speed planning method and device |
| CN117727183B (en) * | 2024-02-18 | 2024-05-17 | 南京淼瀛科技有限公司 | Automatic driving safety early warning method and system combining vehicle-road cooperation |
| CN118015819B (en) * | 2024-04-10 | 2024-06-18 | 济南卓伦智能交通技术有限公司 | Vehicle team collaborative driving method and system based on driving task |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109714421A (en) * | 2018-12-28 | 2019-05-03 | 国汽(北京)智能网联汽车研究院有限公司 | Intelligent network based on bus or train route collaboration joins automobilism system |
| CN109917765A (en) * | 2019-03-28 | 2019-06-21 | 东软睿驰汽车技术（沈阳）有限公司 | A kind of collecting and distributing type domain controller system of the network architecture based on automated driving system |
| CN110308716A (en) * | 2018-03-27 | 2019-10-08 | 上海汽车集团股份有限公司 | A kind of method, apparatus and vehicle of the automatic driving vehicle based on cluster |
| CN111369882A (en) * | 2020-04-24 | 2020-07-03 | 山东科技大学 | Expansion type projection box and using method |
| CN111422196A (en) * | 2020-04-16 | 2020-07-17 | 金龙联合汽车工业（苏州）有限公司 | Intelligent networking automatic driving system and method suitable for mini bus |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107798861B (en) * | 2017-11-30 | 2021-03-02 | 湖北汽车工业学院 | Vehicle cooperative formation driving method and system |
| CN108011947B (en) * | 2017-11-30 | 2020-11-24 | 湖北汽车工业学院 | Vehicle cooperative formation driving system |
| CN109962744B (en) * | 2019-02-25 | 2021-08-03 | 北京交通大学 | C-V2V resource allocation method and device |
| CN112256020A (en) * | 2020-09-25 | 2021-01-22 | 金龙联合汽车工业（苏州）有限公司 | Formation intelligent internet passenger car that traveles based on V2X |
-
2020
- 2020-09-25 CN CN202011022083.6A patent/CN112256020A/en active Pending
-
2021
- 2021-10-29 WO PCT/CN2021/127695 patent/WO2022063331A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110308716A (en) * | 2018-03-27 | 2019-10-08 | 上海汽车集团股份有限公司 | A kind of method, apparatus and vehicle of the automatic driving vehicle based on cluster |
| CN109714421A (en) * | 2018-12-28 | 2019-05-03 | 国汽(北京)智能网联汽车研究院有限公司 | Intelligent network based on bus or train route collaboration joins automobilism system |
| CN109917765A (en) * | 2019-03-28 | 2019-06-21 | 东软睿驰汽车技术（沈阳）有限公司 | A kind of collecting and distributing type domain controller system of the network architecture based on automated driving system |
| CN111422196A (en) * | 2020-04-16 | 2020-07-17 | 金龙联合汽车工业（苏州）有限公司 | Intelligent networking automatic driving system and method suitable for mini bus |
| CN111369882A (en) * | 2020-04-24 | 2020-07-03 | 山东科技大学 | Expansion type projection box and using method |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022063331A1 (en) * | 2020-09-25 | 2022-03-31 | 金龙联合汽车工业（苏州）有限公司 | V2x-based formation driving networked intelligent passenger vehicle |
| CN113200003A (en) * | 2021-06-18 | 2021-08-03 | 北京理工华创电动车技术有限公司 | Multi-domain integrated control system and method for whole commercial vehicle |
| CN113511203A (en) * | 2021-07-01 | 2021-10-19 | 宁波吉利汽车研究开发有限公司 | Vehicle formation following driving control method, system, equipment and storage medium |
| CN113460066A (en) * | 2021-08-11 | 2021-10-01 | 东南大学 | Method for detecting vehicle data transmission accuracy in automatic driving vehicle queue |
| CN113885528A (en) * | 2021-11-02 | 2022-01-04 | 苏州挚途科技有限公司 | Fixed time convergence formation control system and method of dynamic event trigger mechanism |
| 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 |
| CN114319187A (en) * | 2021-12-02 | 2022-04-12 | 北京国家新能源汽车技术创新中心有限公司 | Intelligent network connection automobile control access gate system |
| CN114783170A (en) * | 2022-05-17 | 2022-07-22 | 厦门金龙联合汽车工业有限公司 | Intelligent unmanned vehicle formation system |
| CN114919599A (en) * | 2022-05-17 | 2022-08-19 | 厦门金龙联合汽车工业有限公司 | Device for realizing vehicle formation on automatic driving vehicle |
| CN114783170B (en) * | 2022-05-17 | 2023-08-22 | 厦门金龙联合汽车工业有限公司 | Intelligent unmanned vehicle formation system |
| CN114919599B (en) * | 2022-05-17 | 2023-08-29 | 厦门金龙联合汽车工业有限公司 | Device for realizing vehicle formation on automatic driving vehicle |
| CN115497313A (en) * | 2022-08-12 | 2022-12-20 | 黑芝麻智能科技(重庆)有限公司 | Internet fleet intelligent cooperative control method and system, electronic equipment and storage medium |
| CN115052023A (en) * | 2022-08-15 | 2022-09-13 | 理工雷科智途(北京)科技有限公司 | Advanced driver assistance system data transmission method and device |
| CN115583249A (en) * | 2022-12-13 | 2023-01-10 | 深圳佑驾创新科技有限公司 | Modular automatic driving hardware system |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022063331A1 (en) | 2022-03-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2022063331A1 (en) | V2x-based formation driving networked intelligent passenger vehicle | |
| CN111422196A (en) | Intelligent networking automatic driving system and method suitable for mini bus | |
| CN108778801B (en) | Vehicle control system | |
| CN110239547B (en) | Vehicle control device, vehicle control method, and storage medium | |
| CA3159409A1 (en) | Control of automated following in vehicle convoys | |
| CN111508254B (en) | Control method and control system for efficiently passing through traffic intersection | |
| EP3626569B1 (en) | Driving assistance device and driving assistance method | |
| RU2671457C1 (en) | Device and method of traffic control | |
| EP3181420A1 (en) | Travel control device and method for vehicle | |
| CN108922177A (en) | Speed control system and method when a kind of automatic driving vehicle passes through intersection | |
| JPH07200991A (en) | Cooperative operation system of two or more vehicles | |
| CN113570845A (en) | Networked vehicle formation driving method and system | |
| CN110949376B (en) | Vehicle control device, vehicle control method, and storage medium | |
| CN110412980B (en) | Automobile automatic driving and line combining control method | |
| CN112224202B (en) | Multi-vehicle cooperative collision avoidance system and method under emergency working condition | |
| JP2022060080A (en) | Vehicle drive support device | |
| WO2020258276A1 (en) | Yielding method and apparatus for intelligent driving vehicle, and vehicle-mounted device | |
| CN115951678A (en) | Automatic driving system for electronic guide rubber-tyred vehicle | |
| US11654962B2 (en) | Vehicle travel control method and vehicle travel control apparatus | |
| JP7324600B2 (en) | VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND PROGRAM | |
| GB2566648A (en) | Electronic map-and electronic compass-based autonomous driving system | |
| US20220397898A1 (en) | Remote control request system, remote control request method, and nontransitory storage medium | |
| US20220340131A1 (en) | Driving assistance device | |
| CN114822083B (en) | Intelligent vehicle formation auxiliary control system | |
| CN116319854A (en) | Intelligent driving system is cooperated to car way cloud |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210122 |