CN112687126A - Vehicle control method and device and vehicle system - Google Patents
Vehicle control method and device and vehicle system Download PDFInfo
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- CN112687126A CN112687126A CN202011604409.6A CN202011604409A CN112687126A CN 112687126 A CN112687126 A CN 112687126A CN 202011604409 A CN202011604409 A CN 202011604409A CN 112687126 A CN112687126 A CN 112687126A
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Abstract
The invention provides a vehicle control method, a vehicle control device and a vehicle control system, wherein when the vehicle is controlled, the vehicle control method is not independent vehicle control, but is unified control over all vehicles in the whole vehicle group, so that vehicle running reference information of each vehicle in the same vehicle group at the next moment is uniformly determined, and the vehicle running reference information is used as a reference basis for vehicle running at the next moment. In the invention, the vehicle running reference information is determined based on the preset vehicle group non-collision rule, the vehicle group average speed rule and other data, namely, if the vehicles run according to the vehicle running reference information at the next moment, the vehicles do not collide with each other, so that the running safety of a plurality of vehicles is ensured, and the average speed of the vehicle group can also be ensured, namely, the group running speed of the target vehicle group can also be ensured on the basis of ensuring the running safety of the vehicles, so that the vehicles can run quickly.
Description
Technical Field
The invention relates to the field of vehicle control, in particular to a vehicle control method, a vehicle control device and a vehicle system.
Background
Vehicles are the main entities of road traffic, and the configuration of vehicles is continuously improved along with the continuous development of automobile intellectualization, networking and road traffic intellectualization. In order to ensure safe running of the vehicle, the vehicle controller can generate vehicle running reference information of the vehicle at the next moment according to the running information of the vehicle, and the vehicle can perform vehicle running control according to the vehicle running reference information.
However, if the vehicle travel control is performed using the vehicle travel reference information generated this time even when the surrounding vehicle suddenly changes lanes, accelerates, or the like, there is a risk of collision or the like, which greatly affects the safety of the vehicle.
Disclosure of Invention
In view of the above, the present invention provides a vehicle control method, a vehicle control apparatus, and a vehicle system, so as to solve the problem that when a surrounding vehicle suddenly changes lanes, accelerates, and the like, if vehicle travel control is performed by using vehicle travel reference information generated this time, risks such as collision may occur, and the influence on the safety of the vehicle is large.
In order to solve the technical problems, the invention adopts the following technical scheme:
a vehicle control method is applied to a vehicle control server in a vehicle system, the vehicle system further comprises a plurality of vehicle groups dynamically composed of a plurality of vehicles, and each vehicle group comprises a central vehicle located at a central position in the vehicle group and a non-central vehicle located at a non-central position; the distance between a non-central vehicle and a central vehicle in the vehicle group is smaller than a preset distance threshold; the vehicle control method includes:
acquiring a vehicle running information set uploaded by a central vehicle in the vehicle group; the vehicle running information set comprises vehicle running information of a central vehicle in the vehicle group at the current moment and vehicle running information of each non-central vehicle currently belonging to the same vehicle group with the central vehicle at the current moment;
predicting vehicle running reference information of each vehicle in the vehicle group at the next moment based on a preset vehicle group average speed rule, a vehicle group collision-free rule and the vehicle running information set;
the vehicle running reference information of each vehicle in the vehicle group at the next moment is sent to a central vehicle in the vehicle group, so that the central vehicle in the vehicle group sends the vehicle running reference information to the corresponding vehicle; the vehicle running reference information is used as a running basis of the vehicle.
Optionally, the predicting vehicle running reference information of each vehicle in the vehicle group at the next time based on a preset vehicle group average speed rule, a vehicle group collision-free rule and the vehicle running information set includes:
carrying out format conversion on the vehicle running information of each vehicle in the vehicle group at the current moment, and converting the vehicle running information into information to be processed with a preset format;
and predicting vehicle running reference information of each vehicle in the vehicle group at the next moment based on a preset vehicle group average speed rule, a vehicle group collision-free rule and the to-be-processed information corresponding to each vehicle in the vehicle group.
Optionally, the predicting vehicle driving reference information of each vehicle in the vehicle group at the next time based on a preset vehicle group average speed rule, a vehicle group collision-free rule, and the to-be-processed information corresponding to each vehicle in the vehicle group includes:
selecting vehicles which accord with a preset vehicle screening rule from all vehicles in the vehicle group, and using the selected vehicles as target vehicles;
performing cross and mutation operation on the information to be processed corresponding to the target vehicle to obtain target information to be processed;
acquiring vehicle running reference information of each vehicle in the vehicle group at the next moment, which is obtained by prediction according to the target information to be processed and the information to be processed which is not corresponding to the target vehicle;
under the condition that the vehicle running reference information of each vehicle in the vehicle group at the next moment does not meet any one of a preset vehicle group average speed rule and a vehicle group collision-free rule, and the iteration times do not reach the preset iteration times, returning to execute the step of selecting the vehicle which meets the preset vehicle screening rule from all the vehicles in the vehicle group as a target vehicle, and sequentially executing the step until the iteration times reach the preset iteration times, or when the vehicle running reference information of each vehicle in the vehicle group at the next moment meets the vehicle group average speed rule and the vehicle group collision-free rule at the same time, obtaining the vehicle running reference information of each vehicle in the vehicle group at the next moment;
the vehicle group average speed rule comprises that the vehicle average speed determined according to the vehicle running reference information of all vehicles in the vehicle group at the next moment is greater than a preset threshold value; the vehicle group no-collision rule includes a no-collision possibility between any vehicles in the vehicle group at the next time.
Optionally, performing intersection and mutation operations on the information to be processed of the target vehicle to obtain target information to be processed, including:
under the condition that the iteration times are smaller than the times corresponding to the preset proportion of the preset iteration times, after the information to be processed of the target vehicle is crossed, mutation operation is carried out according to a first preset frequency, and the target information to be processed is obtained;
under the condition that the iteration times are larger than the times corresponding to the preset proportion of the preset iteration times, after controlling the information to be processed of the target vehicle to be crossed, carrying out mutation operation according to a second preset frequency to obtain the target information to be processed; the first preset frequency is less than the second preset frequency.
Optionally, acquiring a set of vehicle driving information uploaded by a central vehicle in the vehicle group includes:
acquiring a vehicle running information set forwarded by a target road side unit; a set of vehicle travel information is uploaded by the central vehicle to the target road side unit.
Optionally, converting the format of the vehicle driving information of each vehicle in the vehicle group at the current time into to-be-processed information with a preset format includes:
and coding the vehicle running information of each vehicle in the vehicle group to obtain the information to be processed in a binary coding format.
A vehicle control apparatus applied to a vehicle control server in a vehicle system, the vehicle system further comprising a plurality of vehicle groups dynamically composed of a plurality of vehicles, the vehicle groups including a center vehicle located at a center position in the vehicle groups and a non-center vehicle located at a non-center position; the distance between a non-central vehicle and a central vehicle in the vehicle group is smaller than a preset distance threshold; the vehicle control device includes:
the information acquisition module is used for acquiring a vehicle running information set uploaded by a central vehicle in the vehicle group; the vehicle running information set comprises vehicle running information of a central vehicle in the vehicle group at the current moment and vehicle running information of each non-central vehicle currently belonging to the same vehicle group with the central vehicle at the current moment;
the information prediction module is used for predicting vehicle running reference information of each vehicle in the vehicle group at the next moment based on a preset vehicle group average speed rule, a vehicle group collision-free rule and the vehicle running information set;
the information issuing module is used for issuing the vehicle running reference information of each vehicle in the vehicle group at the next moment to a central vehicle in the vehicle group so that the central vehicle in the vehicle group sends the vehicle running reference information to the corresponding vehicle; the vehicle running reference information is used as a running basis of the vehicle.
Optionally, the information prediction module includes:
the format conversion submodule is used for carrying out format conversion on the vehicle running information of each vehicle in the vehicle group at the current moment and converting the vehicle running information into information to be processed with a preset format;
and the information prediction submodule is used for predicting and obtaining the vehicle running reference information of each vehicle in the vehicle group at the next moment based on a preset vehicle group average speed rule, a vehicle group collision-free rule and the to-be-processed information corresponding to each vehicle in the vehicle group.
Optionally, the information prediction sub-module includes:
the vehicle screening unit is used for selecting vehicles which accord with a preset vehicle screening rule from all vehicles in the vehicle group and taking the selected vehicles as target vehicles;
the data processing unit is used for carrying out cross and mutation operation on the information to be processed corresponding to the target vehicle to obtain target information to be processed;
the information acquisition unit is used for acquiring vehicle running reference information of each vehicle in the vehicle group at the next moment, which is obtained by prediction according to the target information to be processed and the information to be processed which is not corresponding to the target vehicle;
the judging unit is used for judging whether the vehicle running reference information of each vehicle in the vehicle group at the next moment does not meet any one of a preset vehicle group average speed rule and a vehicle group collision-free rule or not and judging whether the iteration number does not reach the preset iteration number or not; the vehicle group average speed rule comprises that the vehicle average speed determined according to the vehicle running reference information of all vehicles in the vehicle group at the next moment is greater than a preset threshold value; the vehicle group no-collision rule includes no possibility of collision between any vehicles in the vehicle group at the next time;
the vehicle screening unit is further configured to: the judging unit is used for selecting a vehicle which meets a preset vehicle screening rule from all vehicles in the vehicle group and taking the vehicle as a target vehicle under the condition that the vehicle running reference information of each vehicle in the vehicle group at the next moment does not meet any one of a preset vehicle group average speed rule and a vehicle group collision-free rule and the iteration times do not reach the preset iteration times;
and the result determining unit is used for obtaining the vehicle running reference information of each vehicle in the vehicle group at the next moment when the judging unit judges that the iteration number reaches the preset iteration number or the vehicle running reference information of each vehicle in the vehicle group at the next moment simultaneously meets the vehicle group average speed rule and the vehicle group collision-free rule.
A vehicle system, comprising: the vehicle control system comprises a vehicle control server and a plurality of vehicle groups which are dynamically composed of a plurality of vehicles; the vehicle group includes a center vehicle located at a center position in the vehicle group and a non-center vehicle located at a non-center position; the distance between a non-central vehicle and a central vehicle in the vehicle group is smaller than a preset distance threshold;
the vehicle control server is configured to:
acquiring a vehicle running information set uploaded by a central vehicle in the vehicle group; the vehicle running information set comprises vehicle running information of a central vehicle in the vehicle group at the current moment and vehicle running information of each non-central vehicle currently belonging to the same vehicle group with the central vehicle at the current moment;
predicting vehicle running reference information of each vehicle in the vehicle group at the next moment based on a preset vehicle group average speed rule, a vehicle group collision-free rule and the vehicle running information set;
the vehicle running reference information of each vehicle in the vehicle group at the next moment is sent to a central vehicle in the vehicle group, so that the central vehicle in the vehicle group sends the vehicle running reference information to the corresponding vehicle; the vehicle running reference information is used as a running basis of the vehicle.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a vehicle control method, a vehicle control device and a vehicle control system, wherein when the vehicle is controlled, the vehicle control method is not independent vehicle control, but is unified control over all vehicles in the whole vehicle group, so that vehicle running reference information of each vehicle in the same vehicle group at the next moment is uniformly determined, and the vehicle running reference information is used as a reference basis for vehicle running at the next moment. In the invention, the vehicle running reference information is determined based on the preset vehicle group non-collision rule, the vehicle group average speed rule and other data, namely, if the vehicles run according to the vehicle running reference information at the next moment, the vehicles do not collide with each other, so that the running safety of a plurality of vehicles is ensured, and the average speed of the vehicle group can also be ensured, namely, the group running speed of the target vehicle group can also be ensured on the basis of ensuring the running safety of the vehicles, so that the vehicles can run quickly.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a vehicle group according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a vehicle system according to an embodiment of the present invention;
FIG. 3 is a method flow diagram of a vehicle control method provided by an embodiment of the present invention;
FIG. 4 is a method flow diagram of another vehicle control method provided by an embodiment of the present invention;
FIG. 5 is a schematic diagram of a scenario of chromosome crossing and mutation provided by an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a vehicle control device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
When a vehicle runs on a road, models such as a state machine model, a decision/behavior tree model, a knowledge-based inference decision model, a utility/value-based decision model and the like can be used, vehicle running reference information at the next moment of the vehicle is generated according to running information of the vehicle, if the vehicle running reference information at the next moment of the vehicle is generated according to the running information of the vehicle, the change of surrounding vehicles is large, and if the vehicle running reference information generated at the current moment is still used for vehicle running control when the surrounding vehicles suddenly change lanes, accelerate and the like, risks such as collision and the like can occur, and the influence on the safety of the vehicle is large.
In order to solve the above technical problems, the inventors have studied and found that if a plurality of vehicles can be controlled in a unified manner, the probability of vehicle collision on the road where the plurality of vehicles are located is reduced, and the driving safety of the plurality of vehicles can be ensured.
Specifically, when the vehicle is controlled, the vehicle control method is not independent vehicle control, but is unified control over all vehicles in the whole vehicle group, so that the vehicle running reference information of each vehicle in the same vehicle group at the next moment is uniformly determined, and the vehicle running reference information is used as a reference basis for vehicle running at the next moment. In the invention, the vehicle running reference information is determined based on the preset vehicle group non-collision rule, the vehicle group average speed rule and other data, namely, if the vehicles run according to the vehicle running reference information at the next moment, the vehicles do not collide with each other, so that the running safety of a plurality of vehicles is ensured, and the average speed of the vehicle group can also be ensured, namely, the group running speed of the target vehicle group can also be ensured on the basis of ensuring the running safety of the vehicles, so that the vehicles can run quickly.
In order to achieve the above-described aspect, the present invention provides a vehicle control method applied to a vehicle control server in a vehicle system that further includes a plurality of vehicle groups that are dynamically composed of a plurality of vehicles. That is, the vehicle system is composed of a vehicle control server and a plurality of vehicle groups, and in practical applications, if the number of vehicles is small and the distance is short, the plurality of vehicles may form only one vehicle group. The application scene of the invention can be the scenes of straight roads, intersections and the like.
Referring to fig. 1, fig. 1 shows a schematic view of a scenario of a vehicle cluster including a center vehicle located at a center position and a non-center vehicle located at a non-center position in the vehicle cluster.
The distance between a non-center vehicle and a center vehicle in the vehicle group is smaller than a preset distance threshold. Initially, each vehicle sends a broadcast for establishing a group to surrounding vehicles, vehicles within a plurality of radiuses (within a preset distance threshold) are used as a group, and the vehicles receiving the broadcasts of the plurality of groups automatically determine which group to join. And in the group building process, selecting the vehicle close to the center position in the group as a center vehicle, enabling the center vehicle to broadcast the group, and stopping broadcasting other vehicles, wherein the center vehicle is recalculated in the group every time the center vehicle joins one vehicle. The group is exited when the vehicle in the group originally failed to communicate with the central vehicle, i.e. the number of vehicles in the group and which vehicles are changing as the vehicles continue to move. The vehicles in the group set an upper limit on the number, up to which they will not be broadcast. The vehicles in the cluster make a uniform decision plan for the behavior of all the vehicles in the cluster, so that the goal of obtaining a better result for each vehicle is achieved with the minimum cost (generally, the average speed is the highest) for the whole cluster.
For each vehicle in the vehicle group, a vehicle-mounted terminal information acquisition device (such as a laser/millimeter wave radar, a high-precision positioning device, a camera and the like), a vehicle-mounted communication device and the like are arranged on the vehicle. The laser/millimeter wave radar and the camera are used for adopting the information of the surrounding environment of the vehicle, such as the information of lane lines, peripheral obstacles, other vehicles, pedestrians and the like, and the information collected by the laser/millimeter wave radar and the camera can be fused. The high-precision positioning equipment is used for collecting position information of a vehicle, and vehicle-mounted communication equipment (the vehicle-mounted communication equipment is an OBU (on-board unit) which is called at present, and adopts a vehicle-mounted box consisting of a main processor, a V2X communication module, a 4G/5G communication module, a GNSS receiver and the like, and the V2X communication module can be used for achieving short-distance communication between a vehicle and a person and a road through a PC5 interface and achieving reliable communication between a long distance and a wider range and a control center cloud server through a Uu interface of the 4G/5G communication module) and is used for communication between the vehicle and the vehicle, the vehicle is communicated with external equipment such as roadside equipment, a vehicle control server and the like, and transmission of information such as vehicle running information and vehicle running reference information at the next moment is achieved.
In addition, the length, the width, the speed, the inclination degree and other information of the vehicle CAN be transmitted on the CAN bus of the vehicle, and CAN be acquired by the vehicle operation posture acquisition equipment.
In the embodiment of the invention, as the vehicles in the vehicle group are changed continuously, new vehicles enter and part of vehicles exit, and as the center vehicle is positioned at the center of the vehicle group and the possibility of exiting the vehicle group is low, in the vehicle system, the vehicle running information is uploaded to the vehicle control server through the center vehicle after being collected, in practical application, the center vehicle can upload the vehicle running information to the road side unit which is close to the center vehicle and within the communication range of the center vehicle, and then the road side unit is uploaded to the vehicle control server, such as an MEC (Mobile Edge Computing) server, through the 5G communication equipment and the 5G base station.
It should be noted that the central vehicle may upload the vehicle driving information to the vehicle control server through the road side unit and the 5G base station, or may directly upload the vehicle driving information to the vehicle control server through the 5G base station without passing through the road side unit. The 5G communication device in fig. 2 may also be understood as a roadside unit.
On the basis of the architecture of the vehicle group and the vehicle system, the vehicle control method of the invention may refer to fig. 3, and specifically includes:
and S11, acquiring the vehicle running information set uploaded by the central vehicle in the vehicle group.
In practical applications, the vehicles in the vehicle group are constantly changed, and if a vehicle runs faster during the movement of the vehicle, the vehicle moves out of the communication range of the vehicle group, and the vehicle no longer belongs to the vehicle group, and the center vehicle of the vehicle group is recalculated.
The non-center vehicles in the vehicle group communicate with the center vehicle through the vehicle-mounted communication equipment, vehicle running information of the self vehicle is sent to the center vehicle, the center vehicle collects the received vehicle running information to obtain a vehicle running information set, and the vehicle running information set comprises the vehicle running information of the center vehicle in the vehicle group at the current moment and the vehicle running information of each non-center vehicle which currently belongs to the same vehicle group with the center vehicle at the current moment.
Specifically, the vehicle running information set acquired by the vehicle control server is uploaded by a target road side unit which is simultaneously communicated with the vehicle control server and the central vehicle, the central vehicle firstly sends the vehicle running information set to the target road side unit, and the target road side unit forwards the vehicle running information set to the vehicle control server.
And S12, predicting vehicle running reference information of each vehicle in the vehicle group at the next moment based on a preset vehicle group average speed rule, a vehicle group collision-free rule and the vehicle running information set.
In practical applications, the algorithm used in predicting the vehicle travel reference information of each vehicle in the vehicle group at the next time is a genetic algorithm, that is, the genetic algorithm is applied to the vehicle travel reference information prediction field.
Because the MEC server is a server with strong calculation capacity, the calculation rate of the MEC server can meet the speed requirement of the unmanned vehicle, and the genetic algorithm is operated on the MEC server.
When the genetic algorithm is used, a decision instruction for minimizing the group cost, namely vehicle running reference information of each vehicle in the vehicle group at the next moment, is output through the steps of feature coding, chromosome initialization, father and mother party selection, intersection and variation and new population judgment.
The least cost in this embodiment means the highest average speed. Specifically, the decision-making purpose is to uniformly coordinate and plan all vehicles in the group at the minimum cost so that the whole group can safely and efficiently run. For least-cost understanding, there are typically 3 of the most critical three features: flow, velocity and density. Generally, the meaning of a vehicle is to accelerate the moving speed of people, so the average speed of a group is determined to be the highest as the minimum cost, and the expression is as follows:
wherein u isiIs the average speed of the ith vehicle.
Thus, the average speed of the vehicles in the vehicle group can reflect the cost of the decision of the group, but the minimum cost is found, and meanwhile, the vehicles in the vehicle group must be ensured to run safely, namely, the decision of increasing the speed but having collision risk is rejected.
It should be noted that the final decision result obtained through the genetic algorithm is usually not the optimal solution for each individual, but for the group, the decision is the optimal solution, and the decision result enables the whole group to safely and effectively travel with the minimum cost.
S13, issuing the vehicle running reference information of each vehicle in the vehicle group at the next moment to a center vehicle in the vehicle group, so that the center vehicle of the vehicle group sends the vehicle running reference information to the corresponding vehicle; the vehicle running reference information is used as a running basis of the vehicle.
The vehicle running reference information of each vehicle in the vehicle group predicted by the MEC server at the next moment can comprise the heading angle, the speed, the acceleration and the like of the vehicle.
After predicting the vehicle running reference information of each vehicle in the vehicle group at the next moment by the MEC server, the vehicle running reference information is issued to the central vehicle through the target road side unit, the central vehicle is forwarded to the corresponding vehicle, and then the vehicles in the vehicle group can refer to the vehicle running reference information to perform vehicle control.
It should be noted that the vehicles in the vehicle group may be autonomous vehicles (such as unmanned vehicles) or manned vehicles (which may be equipped with ADAS (Advanced Driving Assistance System)). And if the vehicle is an automatic driving vehicle, the vehicle directly drives according to the vehicle driving reference information. If a person drives the vehicle, the vehicle running reference information is only one reference information for vehicle control, and finally, the user determines how to run.
When the vehicle is controlled, the control is not independent vehicle control, but is unified control of all vehicles in the whole vehicle group, and the vehicle running reference information of each vehicle in the same vehicle group at the next moment is uniformly determined and is used as a reference basis for the vehicle running at the next moment. In the invention, the vehicle running reference information is determined based on the preset vehicle group non-collision rule, the vehicle group average speed rule and other data, namely, if the vehicles run according to the vehicle running reference information at the next moment, the vehicles do not collide with each other, so that the running safety of a plurality of vehicles is ensured, and the average speed of the vehicle group can also be ensured, namely, the group running speed of the target vehicle group can also be ensured on the basis of ensuring the running safety of the vehicles, so that the vehicles can run quickly.
In the above description, "the vehicle driving reference information of each vehicle in the vehicle group at the next time is predicted based on the preset vehicle group average speed rule, the vehicle group collision-free rule and the vehicle driving information set", since the step is implemented by using the genetic algorithm, the genetic algorithm has a format requirement on the processed data and can only process binary coded data, when implementing step S12, the format conversion is performed on the vehicle driving information of each vehicle in the vehicle group at the current time, and the information is converted into the information to be processed having the preset format, the format conversion in the embodiment is converted into the information to be processed having the preset format means that the encoding processing is performed to encode the vehicle driving information into the binary coded format, specifically, the expression data is mapped into the genotype data, ensuring that the genetic algorithm is able to identify the data. The genetic algorithm in this embodiment also needs to perform a decoding operation at the end of the algorithm, i.e. mapping the genotype back to the phenotype, to be able to give control information that can be recognized by the vehicle.
After the vehicle running information is coded into a binary coding format, the vehicle running reference information of each vehicle in the vehicle group at the next moment is predicted and obtained based on a preset vehicle group average speed rule, a vehicle group collision-free rule and the to-be-processed information corresponding to each vehicle in the vehicle group.
In practical applications, referring to fig. 4, "predicting vehicle driving reference information of each vehicle in the vehicle group at the next time based on a preset vehicle group average speed rule, a vehicle group collision-free rule and the to-be-processed information corresponding to each vehicle in the vehicle group" may include:
and S21, selecting the vehicles which accord with the preset vehicle screening rule from all the vehicles in the vehicle group, and taking the selected vehicles as target vehicles.
Wherein, the selection has the effect of eliminating the advantages and disadvantages and the survival of the fittest. In a specific implementation process, each vehicle in the vehicle group is determined as a chromosome, and after obtaining a plurality of chromosomes, two chromosomes need to be screened out from the plurality of chromosomes and used as a father and a mother.
When selecting the father and the mother, the genetic rule of the nature needs to be referred. Specifically, in nature, the more adapted individuals are, probabilistically, the more likely it is to reproduce offspring. Therefore, in this embodiment, the parent and the parent with higher speed can be selected, and the child has higher speed in terms of probability. However, in practical application, two vehicles with the highest speed are not suitable for being used as a parent and a parent, and because the speed is highest and higher, there is a possibility that a collision occurs, when one vehicle is selected, the speed and the collision probability need to be considered at the same time, when the collision probability is considered, a penalty item is set, and when the collision probability is considered, the more vehicles are likely to collide, the greater the penalty item is. In practical applications, the parent and the mother are chosen to be considered with two factors, speed and collision probability. Namely, vehicles with high speed and low collision probability are selected as father and mother.
And (4) screening out two superior vehicles respectively serving as a father party and a mother party by comprehensively considering the speed and the collision probability. In practical applications, the screened vehicle is referred to as a target vehicle.
And S22, performing intersection and mutation operation on the information to be processed corresponding to the target vehicle to obtain the target information to be processed.
The cross function is to ensure the stability of the population and evolve towards the direction of the optimal solution. The function of the variation is to ensure the diversity of the population and avoid the local convergence possibly caused by the cross.
Specifically, gene crossover (recombination) and gene mutation should be performed after the selection of the father and the mother. Two steps are the root cause for children to be different from the parent. Referring to FIG. 5, the upper diagram shows the gene crossing process, which is very similar to the union process of homologous chromosomes in nature, i.e., several codes at the same position are randomly exchanged to generate new individuals.
The new two chromosomes that are created after crossing also need to be mutated. Referring specifically to the bottom diagram of fig. 5, we mutate each bit of the crossed chromosome with a certain probability, i.e. 0 becomes 1 and 1 becomes 0 for binary codes.
In practical application, when mutation is performed, the mutation probability needs to be set according to the iteration number. Specifically, an iteration time threshold, also called a preset iteration time, is set first, when the iteration number reaches half of the iteration time threshold, the probability of mutation is increased, and when the iteration number reaches the iteration time threshold, it is considered that the optimal decision for the whole group cannot be found, and the current approximate decision is used for substitution.
In practical applications, when half of the iteration threshold value is not reached, that is, the number of times corresponding to the preset proportion of the iteration threshold value (preset iteration number), after chromosome crossing (that is, to-be-processed information of a vehicle) is performed, mutation operation is performed according to a first preset frequency to obtain target to-be-processed information. In addition, when the iteration number threshold is half reached, after the information to be processed of the target vehicle is controlled to be crossed, mutation operation is carried out according to a second preset frequency to obtain the target information to be processed; the first preset frequency is less than the second preset frequency. The first preset frequency and the second preset frequency are set by those skilled in the art according to a specific use scenario.
And S23, acquiring vehicle running reference information of each vehicle in the vehicle group at the next moment, which is obtained by predicting according to the target information to be processed and the information to be processed which is not corresponding to the target vehicle.
After the target information to be processed of the target vehicle and the information to be processed which is not corresponding to the target vehicle are obtained, the vehicle running reference information of each vehicle in the vehicle group at the next moment is obtained through prediction according to a genetic algorithm. When the vehicle running reference information of each vehicle in the vehicle group at the next moment is predicted, map information of the position of the MEC server is also referred.
S24, judging whether the vehicle running reference information of each vehicle in the vehicle group at the next moment does not meet any one of the preset vehicle group average speed rule and the vehicle group non-collision rule; if yes, go to step S25; if not, step S26 is executed.
In practical application, the vehicle running reference information of each vehicle in the vehicle group at the next moment is obtained through a genetic algorithm, and the vehicle running reference information can comprise information such as speed, acceleration, heading and the like. Although the vehicle running reference information is obtained, when the vehicle running reference information is used for vehicle control, the running of the vehicles cannot be guaranteed to be safe, so that two rules are set, one rule is a vehicle group average speed rule, and the other rule is a vehicle group non-collision rule, the vehicle group average speed rule is that the vehicle average speed determined according to the vehicle running reference information of all vehicles in the vehicle group at the next moment is greater than a preset threshold value, and the vehicle group non-collision rule is that no collision possibility exists between any vehicles in the vehicle group at the next moment, namely, the vehicles do not collide with each other and the whole vehicle group has a certain running speed when the vehicles run at the next moment through the vehicle group average speed rule and the vehicle group non-collision rule.
If the vehicle group average speed rule and the vehicle group collision-free rule are not satisfied, when the preset iteration times, namely the iteration time threshold value, are not reached, the father party and the mother party are reselected, and the steps are repeated until a decision that the group is optimal is found, or the iteration times reach the preset iteration times.
And if the vehicle group average speed rule and the vehicle group collision-free rule are simultaneously met, determining the output at the moment as the vehicle running reference information of each vehicle in the vehicle group at the next moment, so that the vehicle runs according to the vehicle running reference information.
S25, judging whether the iteration times reach the preset iteration times; if yes, go to step S26; if not, the process returns to step S21.
If the vehicle group average speed rule and the vehicle group collision-free rule are not satisfied, when the preset iteration times, namely the iteration time threshold value, are not reached, the father party and the mother party are reselected, and the steps are repeated until a decision that the group is optimal is found, or the iteration times reach the preset iteration times.
In the embodiment, the driving strategy of the vehicle suitable for the vehicle group is selected through the genetic algorithm, and the driving speed of the vehicle can be ensured on the basis of ensuring the driving safety of the vehicle.
Alternatively, on the basis of the embodiment of the vehicle control method described above, another embodiment of the present invention provides a vehicle control apparatus applied to a vehicle control server in a vehicle system, the vehicle system further including a plurality of vehicle groups dynamically composed of a plurality of vehicles, the vehicle groups including a center vehicle located at a center position and a non-center vehicle located at a non-center position in the vehicle groups; the distance between a non-central vehicle and a central vehicle in the vehicle group is smaller than a preset distance threshold; referring to fig. 6, the vehicle control apparatus includes:
the information acquisition module 11 is configured to acquire a vehicle driving information set uploaded by a center vehicle in the vehicle group; the vehicle running information set comprises vehicle running information of a central vehicle in the vehicle group at the current moment and vehicle running information of each non-central vehicle currently belonging to the same vehicle group with the central vehicle at the current moment;
the information prediction module 12 is configured to predict vehicle driving reference information of each vehicle in the vehicle group at the next time based on a preset vehicle group average speed rule, a vehicle group collision-free rule, and the vehicle driving information set;
the information issuing module 13 is configured to issue vehicle driving reference information of each vehicle in the vehicle group at the next time to a central vehicle in the vehicle group, so that the central vehicle in the vehicle group sends the vehicle driving reference information to a corresponding vehicle; the vehicle running reference information is used as a running basis of the vehicle.
Further, the information prediction module comprises:
the format conversion submodule is used for carrying out format conversion on the vehicle running information of each vehicle in the vehicle group at the current moment and converting the vehicle running information into information to be processed with a preset format;
and the information prediction submodule is used for predicting and obtaining the vehicle running reference information of each vehicle in the vehicle group at the next moment based on a preset vehicle group average speed rule, a vehicle group collision-free rule and the to-be-processed information corresponding to each vehicle in the vehicle group.
Further, the information prediction sub-module includes:
the vehicle screening unit is used for selecting vehicles which accord with a preset vehicle screening rule from all vehicles in the vehicle group and taking the selected vehicles as target vehicles;
the data processing unit is used for carrying out cross and mutation operation on the information to be processed corresponding to the target vehicle to obtain target information to be processed;
the information acquisition unit is used for acquiring vehicle running reference information of each vehicle in the vehicle group at the next moment, which is obtained by prediction according to the target information to be processed and the information to be processed which is not corresponding to the target vehicle;
the judging unit is used for judging whether the vehicle running reference information of each vehicle in the vehicle group at the next moment does not meet any one of a preset vehicle group average speed rule and a vehicle group collision-free rule or not and judging whether the iteration number does not reach the preset iteration number or not; the vehicle group average speed rule comprises that the vehicle average speed determined according to the vehicle running reference information of all vehicles in the vehicle group at the next moment is greater than a preset threshold value; the vehicle group no-collision rule includes no possibility of collision between any vehicles in the vehicle group at the next time;
the vehicle screening unit is further configured to: the judging unit is used for selecting a vehicle which meets a preset vehicle screening rule from all vehicles in the vehicle group and taking the vehicle as a target vehicle under the condition that the vehicle running reference information of each vehicle in the vehicle group at the next moment does not meet any one of a preset vehicle group average speed rule and a vehicle group collision-free rule and the iteration times do not reach the preset iteration times;
and the result determining unit is used for obtaining the vehicle running reference information of each vehicle in the vehicle group at the next moment when the judging unit judges that the iteration number reaches the preset iteration number or the vehicle running reference information of each vehicle in the vehicle group at the next moment simultaneously meets the vehicle group average speed rule and the vehicle group collision-free rule.
Further, the data processing unit is specifically configured to:
under the condition that the iteration times are smaller than the times corresponding to the preset proportion of the preset iteration times, after the information to be processed of the target vehicle is crossed, mutation operation is carried out according to a first preset frequency, and the target information to be processed is obtained;
under the condition that the iteration times are larger than the times corresponding to the preset proportion of the preset iteration times, after controlling the information to be processed of the target vehicle to be crossed, carrying out mutation operation according to a second preset frequency to obtain the target information to be processed; the first preset frequency is less than the second preset frequency.
Further, the information acquisition module is specifically configured to:
acquiring a vehicle running information set forwarded by a target road side unit; a set of vehicle travel information is uploaded by the central vehicle to the target road side unit.
Further, the format transformation module is specifically configured to:
and coding the vehicle running information of each vehicle in the vehicle group to obtain the information to be processed in a binary coding format.
In this embodiment, when controlling the vehicles, the control is not independent of the control of the vehicle, but is a unified control of all vehicles in the whole vehicle group, and the vehicle driving reference information of each vehicle in the same vehicle group at the next time is determined in a unified manner, and is used as a reference basis for the vehicle driving at the next time. In the invention, the vehicle running reference information is determined based on the preset vehicle group non-collision rule, the vehicle group average speed rule and other data, namely, if the vehicles run according to the vehicle running reference information at the next moment, the vehicles do not collide with each other, so that the running safety of a plurality of vehicles is ensured, and the average speed of the vehicle group can also be ensured, namely, the group running speed of the target vehicle group can also be ensured on the basis of ensuring the running safety of the vehicles, so that the vehicles can run quickly.
It should be noted that, for the working processes of each module, sub-module, and unit in this embodiment, please refer to the corresponding description in the above embodiments, which is not described herein again.
Optionally, on the basis of the above embodiments of the vehicle control method and apparatus, another embodiment of the present invention provides a vehicle system, including: the vehicle control system comprises a vehicle control server and a plurality of vehicle groups which are dynamically composed of a plurality of vehicles; the vehicle group includes a center vehicle located at a center position in the vehicle group and a non-center vehicle located at a non-center position; the distance between a non-central vehicle and a central vehicle in the vehicle group is smaller than a preset distance threshold;
the vehicle control server is configured to:
acquiring a vehicle running information set uploaded by a central vehicle in the vehicle group; the vehicle running information set comprises vehicle running information of a central vehicle in the vehicle group at the current moment and vehicle running information of each non-central vehicle currently belonging to the same vehicle group with the central vehicle at the current moment;
predicting vehicle running reference information of each vehicle in the vehicle group at the next moment based on a preset vehicle group average speed rule, a vehicle group collision-free rule and the vehicle running information set;
the vehicle running reference information of each vehicle in the vehicle group at the next moment is sent to a central vehicle in the vehicle group, so that the central vehicle in the vehicle group sends the vehicle running reference information to the corresponding vehicle; the vehicle running reference information is used as a running basis of the vehicle.
Further, the predicting and obtaining the vehicle running reference information of each vehicle in the vehicle group at the next moment based on the preset vehicle group average speed rule, the vehicle group collision-free rule and the vehicle running information set comprises:
carrying out format conversion on the vehicle running information of each vehicle in the vehicle group at the current moment, and converting the vehicle running information into information to be processed with a preset format;
and predicting vehicle running reference information of each vehicle in the vehicle group at the next moment based on a preset vehicle group average speed rule, a vehicle group collision-free rule and the to-be-processed information corresponding to each vehicle in the vehicle group.
Further, predicting vehicle running reference information of each vehicle in the vehicle group at the next moment based on a preset vehicle group average speed rule, a vehicle group collision-free rule and the to-be-processed information corresponding to each vehicle in the vehicle group, wherein the method comprises the following steps:
selecting vehicles which accord with a preset vehicle screening rule from all vehicles in the vehicle group, and using the selected vehicles as target vehicles;
performing cross and mutation operation on the information to be processed corresponding to the target vehicle to obtain target information to be processed;
acquiring vehicle running reference information of each vehicle in the vehicle group at the next moment, which is obtained by prediction according to the target information to be processed and the information to be processed which is not corresponding to the target vehicle;
under the condition that the vehicle running reference information of each vehicle in the vehicle group at the next moment does not meet any one of a preset vehicle group average speed rule and a vehicle group collision-free rule, and the iteration times do not reach the preset iteration times, returning to execute the step of selecting the vehicle which meets the preset vehicle screening rule from all the vehicles in the vehicle group as a target vehicle, and sequentially executing the step until the iteration times reach the preset iteration times, or when the vehicle running reference information of each vehicle in the vehicle group at the next moment meets the vehicle group average speed rule and the vehicle group collision-free rule at the same time, obtaining the vehicle running reference information of each vehicle in the vehicle group at the next moment;
the vehicle group average speed rule comprises that the vehicle average speed determined according to the vehicle running reference information of all vehicles in the vehicle group at the next moment is greater than a preset threshold value; the vehicle group no-collision rule includes a no-collision possibility between any vehicles in the vehicle group at the next time.
Further, performing intersection and mutation operations on the information to be processed of the target vehicle to obtain target information to be processed, including:
under the condition that the iteration times are smaller than the times corresponding to the preset proportion of the preset iteration times, after the information to be processed of the target vehicle is crossed, mutation operation is carried out according to a first preset frequency, and the target information to be processed is obtained;
under the condition that the iteration times are larger than the times corresponding to the preset proportion of the preset iteration times, after controlling the information to be processed of the target vehicle to be crossed, carrying out mutation operation according to a second preset frequency to obtain the target information to be processed; the first preset frequency is less than the second preset frequency.
Further, acquiring a vehicle driving information set uploaded by a center vehicle in the vehicle group, including:
acquiring a vehicle running information set forwarded by a target road side unit; a set of vehicle travel information is uploaded by the central vehicle to the target road side unit.
Further, the format conversion of the vehicle driving information of each vehicle in the vehicle group at the current moment is performed to convert the vehicle driving information into the to-be-processed information with a preset format, and the method comprises the following steps:
and coding the vehicle running information of each vehicle in the vehicle group to obtain the information to be processed in a binary coding format.
In this embodiment, when controlling the vehicles, the control is not independent of the control of the vehicle, but is a unified control of all vehicles in the whole vehicle group, and the vehicle driving reference information of each vehicle in the same vehicle group at the next time is determined in a unified manner, and is used as a reference basis for the vehicle driving at the next time. In the invention, the vehicle running reference information is determined based on the preset vehicle group non-collision rule, the vehicle group average speed rule and other data, namely, if the vehicles run according to the vehicle running reference information at the next moment, the vehicles do not collide with each other, so that the running safety of a plurality of vehicles is ensured, and the average speed of the vehicle group can also be ensured, namely, the group running speed of the target vehicle group can also be ensured on the basis of ensuring the running safety of the vehicles, so that the vehicles can run quickly.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A vehicle control method is applied to a vehicle control server in a vehicle system, wherein the vehicle system further comprises a plurality of vehicle groups dynamically composed of a plurality of vehicles, and each vehicle group comprises a central vehicle located at a central position in the vehicle group and a non-central vehicle located at a non-central position; the distance between a non-central vehicle and a central vehicle in the vehicle group is smaller than a preset distance threshold; the vehicle control method includes:
acquiring a vehicle running information set uploaded by a central vehicle in the vehicle group; the vehicle running information set comprises vehicle running information of a central vehicle in the vehicle group at the current moment and vehicle running information of each non-central vehicle currently belonging to the same vehicle group with the central vehicle at the current moment;
predicting vehicle running reference information of each vehicle in the vehicle group at the next moment based on a preset vehicle group average speed rule, a vehicle group collision-free rule and the vehicle running information set;
the vehicle running reference information of each vehicle in the vehicle group at the next moment is sent to a central vehicle in the vehicle group, so that the central vehicle in the vehicle group sends the vehicle running reference information to the corresponding vehicle; the vehicle running reference information is used as a running basis of the vehicle.
2. The vehicle control method according to claim 1, wherein predicting vehicle travel reference information of each vehicle in the vehicle group at a next time based on a preset vehicle group average speed rule, a vehicle group collision-free rule and the vehicle travel information set comprises:
carrying out format conversion on the vehicle running information of each vehicle in the vehicle group at the current moment, and converting the vehicle running information into information to be processed with a preset format;
and predicting vehicle running reference information of each vehicle in the vehicle group at the next moment based on a preset vehicle group average speed rule, a vehicle group collision-free rule and the to-be-processed information corresponding to each vehicle in the vehicle group.
3. The vehicle control method according to claim 2, wherein predicting vehicle travel reference information of each vehicle in the vehicle group at a next time based on a preset vehicle group average speed rule, a vehicle group collision-free rule and the to-be-processed information corresponding to each vehicle in the vehicle group comprises:
selecting vehicles which accord with a preset vehicle screening rule from all vehicles in the vehicle group, and using the selected vehicles as target vehicles;
performing cross and mutation operation on the information to be processed corresponding to the target vehicle to obtain target information to be processed;
acquiring vehicle running reference information of each vehicle in the vehicle group at the next moment, which is obtained by prediction according to the target information to be processed and the information to be processed which is not corresponding to the target vehicle;
under the condition that the vehicle running reference information of each vehicle in the vehicle group at the next moment does not meet any one of a preset vehicle group average speed rule and a vehicle group collision-free rule, and the iteration times do not reach the preset iteration times, returning to execute the step of selecting the vehicle which meets the preset vehicle screening rule from all the vehicles in the vehicle group as a target vehicle, and sequentially executing the step until the iteration times reach the preset iteration times, or when the vehicle running reference information of each vehicle in the vehicle group at the next moment meets the vehicle group average speed rule and the vehicle group collision-free rule at the same time, obtaining the vehicle running reference information of each vehicle in the vehicle group at the next moment;
the vehicle group average speed rule comprises that the vehicle average speed determined according to the vehicle running reference information of all vehicles in the vehicle group at the next moment is greater than a preset threshold value; the vehicle group no-collision rule includes a no-collision possibility between any vehicles in the vehicle group at the next time.
4. The vehicle control method according to claim 3, wherein performing intersection and mutation operations on the information to be processed of the target vehicle to obtain target information to be processed comprises:
under the condition that the iteration times are smaller than the times corresponding to the preset proportion of the preset iteration times, after the information to be processed of the target vehicle is crossed, mutation operation is carried out according to a first preset frequency, and the target information to be processed is obtained;
under the condition that the iteration times are larger than the times corresponding to the preset proportion of the preset iteration times, after controlling the information to be processed of the target vehicle to be crossed, carrying out mutation operation according to a second preset frequency to obtain the target information to be processed; the first preset frequency is less than the second preset frequency.
5. The vehicle control method according to claim 1, wherein obtaining the set of vehicle driving information uploaded by the central vehicle in the vehicle group comprises:
acquiring a vehicle running information set forwarded by a target road side unit; a set of vehicle travel information is uploaded by the central vehicle to the target road side unit.
6. The vehicle control method according to claim 2, wherein converting the format of the vehicle travel information of each vehicle in the vehicle group at the current time into the information to be processed having the preset format includes:
and coding the vehicle running information of each vehicle in the vehicle group to obtain the information to be processed in a binary coding format.
7. A vehicle control apparatus is applied to a vehicle control server in a vehicle system, the vehicle system further comprising a plurality of vehicle groups dynamically composed of a plurality of vehicles, the vehicle groups including a center vehicle located at a center position in the vehicle groups and a non-center vehicle located at a non-center position; the distance between a non-central vehicle and a central vehicle in the vehicle group is smaller than a preset distance threshold; the vehicle control device includes:
the information acquisition module is used for acquiring a vehicle running information set uploaded by a central vehicle in the vehicle group; the vehicle running information set comprises vehicle running information of a central vehicle in the vehicle group at the current moment and vehicle running information of each non-central vehicle currently belonging to the same vehicle group with the central vehicle at the current moment;
the information prediction module is used for predicting vehicle running reference information of each vehicle in the vehicle group at the next moment based on a preset vehicle group average speed rule, a vehicle group collision-free rule and the vehicle running information set;
the information issuing module is used for issuing the vehicle running reference information of each vehicle in the vehicle group at the next moment to a central vehicle in the vehicle group so that the central vehicle in the vehicle group sends the vehicle running reference information to the corresponding vehicle; the vehicle running reference information is used as a running basis of the vehicle.
8. The vehicle control apparatus according to claim 7, characterized in that the information prediction module includes:
the format conversion submodule is used for carrying out format conversion on the vehicle running information of each vehicle in the vehicle group at the current moment and converting the vehicle running information into information to be processed with a preset format;
and the information prediction submodule is used for predicting and obtaining the vehicle running reference information of each vehicle in the vehicle group at the next moment based on a preset vehicle group average speed rule, a vehicle group collision-free rule and the to-be-processed information corresponding to each vehicle in the vehicle group.
9. The vehicle control apparatus according to claim 8, wherein the information prediction sub-module includes:
the vehicle screening unit is used for selecting vehicles which accord with a preset vehicle screening rule from all vehicles in the vehicle group and taking the selected vehicles as target vehicles;
the data processing unit is used for carrying out cross and mutation operation on the information to be processed corresponding to the target vehicle to obtain target information to be processed;
the information acquisition unit is used for acquiring vehicle running reference information of each vehicle in the vehicle group at the next moment, which is obtained by prediction according to the target information to be processed and the information to be processed which is not corresponding to the target vehicle;
the judging unit is used for judging whether the vehicle running reference information of each vehicle in the vehicle group at the next moment does not meet any one of a preset vehicle group average speed rule and a vehicle group collision-free rule or not and judging whether the iteration number does not reach the preset iteration number or not; the vehicle group average speed rule comprises that the vehicle average speed determined according to the vehicle running reference information of all vehicles in the vehicle group at the next moment is greater than a preset threshold value; the vehicle group no-collision rule includes no possibility of collision between any vehicles in the vehicle group at the next time;
the vehicle screening unit is further configured to: the judging unit is used for selecting a vehicle which meets a preset vehicle screening rule from all vehicles in the vehicle group and taking the vehicle as a target vehicle under the condition that the vehicle running reference information of each vehicle in the vehicle group at the next moment does not meet any one of a preset vehicle group average speed rule and a vehicle group collision-free rule and the iteration times do not reach the preset iteration times;
and the result determining unit is used for obtaining the vehicle running reference information of each vehicle in the vehicle group at the next moment when the judging unit judges that the iteration number reaches the preset iteration number or the vehicle running reference information of each vehicle in the vehicle group at the next moment simultaneously meets the vehicle group average speed rule and the vehicle group collision-free rule.
10. A vehicle system, comprising: the vehicle control system comprises a vehicle control server and a plurality of vehicle groups which are dynamically composed of a plurality of vehicles; the vehicle group includes a center vehicle located at a center position in the vehicle group and a non-center vehicle located at a non-center position; the distance between a non-central vehicle and a central vehicle in the vehicle group is smaller than a preset distance threshold;
the vehicle control server is configured to:
acquiring a vehicle running information set uploaded by a central vehicle in the vehicle group; the vehicle running information set comprises vehicle running information of a central vehicle in the vehicle group at the current moment and vehicle running information of each non-central vehicle currently belonging to the same vehicle group with the central vehicle at the current moment;
predicting vehicle running reference information of each vehicle in the vehicle group at the next moment based on a preset vehicle group average speed rule, a vehicle group collision-free rule and the vehicle running information set;
the vehicle running reference information of each vehicle in the vehicle group at the next moment is sent to a central vehicle in the vehicle group, so that the central vehicle in the vehicle group sends the vehicle running reference information to the corresponding vehicle; the vehicle running reference information is used as a running basis of the vehicle.
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