CN112987715A - Automatic networking multi-vehicle cooperative automatic driving system and method and vehicle - Google Patents
Automatic networking multi-vehicle cooperative automatic driving system and method and vehicle Download PDFInfo
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- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
Abstract
The invention provides an automatic networking multi-vehicle cooperative automatic driving system, method and vehicle, which are suitable for an automatic driving vehicle and comprise a networking module, a data sharing module, a decision module and an execution module; the networking module sends networking requests to other automatic driving vehicles or receives networking requests of other automatic driving vehicles to form a vehicle network; the data sharing module sharing raw data to the other autonomous vehicles within the vehicle network or receiving extrinsic data shared by the other autonomous vehicles; the decision module determines a driving strategy according to at least one of the raw data and the extrinsic data of the autonomous vehicle; the execution module executes a driving behavior according to the driving strategy. By adopting the technical scheme, the sensor data sharing and the vehicle driving data sharing of different vehicles can be realized through the multi-vehicle network, so that the burden of a single-vehicle sensor is reduced, and more accurate and comprehensive driving control is realized.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to an automatic networking multi-vehicle cooperative automatic driving system, method and vehicle.
Background
In order to realize automatic driving, an autonomous vehicle requires a plurality of sensors to accurately detect an obstacle, thereby making a driving strategy, such as driving at which speed, acceleration, deceleration, lane change, and the like. The existing automatic driving is mainly based on data fusion of multiple sensors of a single vehicle and driving strategy formulation, so that speed control, obstacle avoidance control, lane change control and the like of the vehicle are realized, but all data required by the data fusion of the multiple sensors of the single vehicle and the driving strategy are required to be detected and acquired by the single vehicle, the requirement on the accuracy of the sensors is high, and the workload is large.
Therefore, the invention provides the multi-vehicle cooperative automatic driving system and method with automatic networking and the vehicle, and the sensor data sharing and the vehicle driving data sharing of different vehicles can be realized through the multi-vehicle networking, so that the burden of a single-vehicle sensor is reduced, and more accurate and comprehensive driving control is realized. Meanwhile, the multi-vehicle networking is not only limited to data sharing of the sensors, the vehicle speed can be controlled, under the condition that the multiple vehicles keep the same vehicle speed, the data required to be detected by the sensors is reduced, if the following vehicles run at the same speed, the following vehicles do not need to be detected, if the vehicle speed of the following vehicles changes suddenly, the front vehicles can also know in time through data sharing, and the vehicle speed is detected or adjusted in time.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide an automatic networking multi-vehicle cooperative automatic driving system, method and vehicle, which implement data sharing of different vehicles through multi-vehicle networking, obtain driving data of other vehicles and obstacle information detected by other vehicle sensors, reduce the burden of data detection of a single vehicle, and enable mutual verification between the data of the single vehicle and external data shared by other vehicles, thereby improving the accuracy of the data and implementing more precise and comprehensive driving control.
The invention provides an automatic networking multi-vehicle cooperative automatic driving system, which is suitable for automatically driving vehicles and is characterized by comprising a networking module, a data sharing module, a decision module and an execution module; the networking module sends networking requests to other automatic driving vehicles or receives networking requests of other automatic driving vehicles to form a vehicle network; the data sharing module sharing raw data to the other autonomous vehicles within the vehicle network or receiving extrinsic data shared by the other autonomous vehicles; the decision module determines a driving strategy according to at least one of the raw data and the extrinsic data of the autonomous vehicle; the execution module executes a driving behavior according to the driving strategy.
Preferably, the networking module in the system includes a request sending unit and a request receiving unit; the sending request unit sends networking requests to other automatic driving vehicles; the receiving request unit receives networking requests of other automatic driving vehicles; the other autonomous vehicles include autonomous vehicles not belonging to any of the vehicle networks or autonomous vehicles belonging to a certain one of the vehicle networks.
Preferably, in the above system, the networking request includes one or more of a destination, a current vehicle speed, a speed to be traveled, a time to arrive, and current location information.
Preferably, the driving strategy in the above system comprises one or more of a driving speed, a driving lane, a distance to a preceding vehicle, a distance to an obstacle, and a relative speed to an obstacle.
Preferably, the driving behavior in the above system corresponds to the driving strategy, and includes one or more of acceleration, deceleration, maintaining a current speed, lane change, and passing.
Preferably, the system further comprises a driving model construction module, which constructs a virtual network model including all the autonomous vehicles in the vehicle network according to the original data of the autonomous vehicles and the external data.
Preferably, in the above system, when the networking module receives a networking request of the other autonomous vehicle, it is determined whether the networking request conforms to a virtual network model of the vehicle network.
Preferably, the driving model building module in the system executes vehicle joining, exiting and lane changing operations.
The invention also provides an automatic networking multi-vehicle cooperative automatic driving method, which is suitable for automatically driving vehicles and is characterized by comprising the following steps: the automatic driving vehicle sends networking requests to other automatic driving vehicles or receives networking requests of other automatic driving vehicles to form a vehicle network; the autonomous vehicle sharing raw data with the other autonomous vehicles within the vehicle network or receiving extrinsic data shared by the other autonomous vehicles; the autonomous vehicle determining a driving strategy based on at least one of the raw data and the extrinsic data of the autonomous vehicle; the autonomous vehicle executes a driving action according to the driving strategy.
The invention also provides an automatic driving unit which is characterized by comprising a wireless communication unit, a radar, a camera and an automatic driving domain controller, wherein the automatic driving domain controller executes the multi-vehicle cooperative automatic driving method.
After the technical scheme is adopted, compared with the prior art, the method has the following beneficial effects:
1. data of multiple vehicles are shared, and the burden of data detection of a single vehicle sensor is reduced;
2. through data sharing, the data of a single vehicle and the external data shared by other vehicles can be verified mutually, and the accuracy of the data is improved;
3. and a vehicle network model is established, so that comprehensive and accurate driving control is realized, and higher safety performance is achieved.
Drawings
FIG. 1 is a schematic diagram of an auto-networked multi-vehicle cooperative auto-steering system in accordance with a preferred embodiment of the present invention;
FIG. 2 is a schematic illustration of a vehicle join in accordance with a preferred embodiment of the present invention;
FIG. 3 is a schematic diagram of a lane change of a vehicle in accordance with a preferred embodiment of the present invention;
FIG. 4 is a schematic diagram of a vehicle exit in accordance with a preferred embodiment of the present invention;
FIG. 5 is a schematic diagram of a vehicle exit in accordance with another preferred embodiment of the present invention;
FIG. 6 is a schematic diagram of an auto-networked multi-vehicle cooperative auto-driving system in accordance with another preferred embodiment of the present invention;
fig. 7 is a flowchart illustrating an automatic networking multi-vehicle cooperative automatic driving method according to a preferred embodiment of the present invention.
Detailed Description
The advantages of the invention are further illustrated in the following description of specific embodiments in conjunction with the accompanying drawings.
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in themselves. Thus, "module" and "component" may be used in a mixture.
Referring to fig. 1, a schematic structural diagram of an automatic networking multi-vehicle cooperative automatic driving system according to a preferred embodiment of the present invention is applicable to automatic driving of vehicles, and includes a networking module, a data sharing module, a decision module and an execution module; the networking module sends networking requests to other automatic driving vehicles or receives networking requests of other automatic driving vehicles to form a vehicle network; the data sharing module shares original data to other autonomous vehicles in the vehicle network or receives external data shared by other autonomous vehicles; the decision-making module determines a driving strategy according to at least one of original data and external data of the automatic driving vehicle; the execution module executes the driving behavior according to the driving strategy.
In order to realize speed control, obstacle avoidance control, lane change control and the like, a plurality of sensors such as radars, cameras and the like are required to detect the surrounding environment and perform data fusion according to data detected by the sensors so as to formulate a driving strategy, and a traditional automatic driving system detects a single vehicle and formulates the driving strategy based on data detected by the single vehicle. The invention provides a multi-vehicle cooperative automatic driving system which comprises a networking module, a data sharing module, a decision module and an execution module, wherein a single vehicle A sends a networking request to other adjacent automatic driving vehicles B through wireless communication to apply networking with the vehicle B, the vehicle B receiving the networking request judges whether to accept the request of the single vehicle A, and a vehicle network 1 is formed after successful networking according to the content comprising the networking request and/or the driving information of the vehicle B. The embodiment does not limit whether the vehicle B already belongs to a certain vehicle network or does not belong to any vehicle network, if the vehicle B does not belong to any vehicle network, the vehicle a and the vehicle B form the vehicle network 1 after the networking is successful, and if the vehicle B already belongs to a certain vehicle network, the vehicle a and the vehicle network form the vehicle network 1 together after the networking is successful.
After the vehicle network 1 is formed, the data sharing module of the vehicle a shares the raw data of the vehicle a, which may include any data related to the driving of the vehicle a, such as the position of the vehicle a, the ambient environment data detected by the vehicle a, the speed of the vehicle a, etc., with other autonomous vehicles within the vehicle network 1, and the vehicle a may also receive the extrinsic data shared by all other autonomous vehicles including the vehicle B in the vehicle network 1, which may include any data related to the driving of other vehicles, such as the position, the speed, the detected ambient environment data, etc. All other autonomous vehicles in the vehicle network also receive data shared by all but their own vehicles in the vehicle network. A decision module in the automatic driving system determines a driving strategy according to at least one of original data and external data of an automatic driving vehicle, taking a vehicle A as an example, the vehicle A determines the driving strategy according to at least one of the external data shared by the original data of the vehicle A and other vehicles, preferably, the vehicle A determines the driving strategy according to the combination of the original data and the external data, the driving strategy can comprise one or more strategies such as vehicle speed, lane, driving route and the like, and a corresponding driving behavior is executed according to a driving strategy execution module.
Through the technical scheme, the sensor data sharing and the driving data sharing of different vehicles can be realized, and further more accurate and comprehensive driving control is realized. Meanwhile, due to data sharing, the single vehicle can acquire the driving data of other vehicles and the obstacle information detected by other vehicle sensors, the burden of data detection of the single vehicle is reduced, the data of the single vehicle and the external data shared by other vehicles can be verified mutually, the comprehensiveness and accuracy of the data are improved, and more accurate driving control is realized.
Based on the above embodiment, in a preferred embodiment consistent with the present invention, the networking module includes a request sending unit and a request receiving unit; the sending request unit sends networking requests to other automatic driving vehicles; the receiving request unit receives networking requests of other automatic driving vehicles; the other autonomous vehicles include autonomous vehicles not belonging to any of the vehicle networks or autonomous vehicles belonging to a certain one of the vehicle networks. The vehicle may actively send a networking request or may receive a networking request sent by another vehicle to form a vehicle network, so that the networking module includes a sending request unit and a receiving request unit, the sending request unit is used for sending a networking request to another autonomous vehicle, the receiving request unit is used for receiving the networking request of another autonomous vehicle, the receiving request includes not only the received request but also the judgment of the received networking request, and further determines whether to receive the request to form the network. The types of other autonomous vehicles are not limited, and the autonomous vehicles may be autonomous vehicles not belonging to any vehicle network or autonomous vehicles belonging to a certain vehicle network, that is, requests may be sent to a single autonomous vehicle not belonging to any vehicle network, or requests may be sent to autonomous vehicles belonging to a certain vehicle network to join the vehicle network.
Based on the above embodiments, in a preferred embodiment consistent with the present invention, the networking request includes one or more of a destination, a current vehicle speed, a speed to be traveled, a time to arrive, and current location information. In order to judge whether to accept the networking request, the networking request not only contains the request, but also needs to contain relevant information for judging the automatic driving vehicle receiving the networking request, and the networking request can comprise one or more of destination, current vehicle speed, speed to be driven, time to be reached and current position information. The destination information can be used for planning a route and judging whether the route of the vehicle sending the request is matched with the route of the vehicle receiving the request or not, so that the situation that the vehicle just needs to leave the vehicle network in networking increases the calculation amount and the driving behavior in the process, and the driving load of the vehicle is increased. The current vehicle speed may be used to determine the speed difference between the requesting vehicle and the vehicle receiving the request, or may be used to calculate how the speed should be adjusted to match if the network is deployed. The intended travel speed can be used for judging whether the intended travel speed of the vehicle sending the request is matched with the vehicle speed of the vehicle receiving the request so as to avoid the condition that a proper driving strategy cannot be determined after the vehicle speed difference is overlarge networking. The combination of the time information to be reached and the destination information can be used for judging the driving speed range which can be accepted by the vehicle sending the request, and further judging whether the matching is carried out or not and whether networking is available or not. The current position information may be used to determine whether networking is facilitated and if how to perform driving behaviors such as lane change and the like in networking, taking the vehicle a and the vehicle B as an example, a plurality of lanes are arranged between the vehicle a and the vehicle B and a large number of vehicles are driven, so that networking is rejected under the condition that lane change networking is not facilitated, and networking may be performed again in subsequent networking facilitated. The networking request may include one or more of the above information, which is only distance, and any other information that is beneficial to determining whether the driving behavior is matched may also be included as the content included in the networking request.
Based on the above embodiments, in a preferred embodiment consistent with the present invention, the driving strategy includes one or more of a driving speed, a driving lane, a distance to a preceding vehicle, a distance to an obstacle, and a relative speed to the obstacle. A decision module of the autonomous driving system determines a driving strategy based on at least one of the raw data and the extrinsic data of the autonomous driving vehicle, preferably, the driving strategy is determined more accurately based on a combination of the raw data and the extrinsic data. Taking a vehicle A and a vehicle network 1 as an example, the vehicle A forms the vehicle network 1 with other vehicles after requesting networking, a decision module of an automatic driving system of the vehicle A determines a driving strategy according to original data of the vehicle A, such as driving speed, vehicle position, vehicle surrounding environment and the like, the vehicle surrounding environment comprises information such as obstacle conditions, distances and the like around the vehicle, and corresponding external data information shared by other automatic driving vehicles in the vehicle network 1, and the driving strategy comprises one or more of a plurality of strategies such as driving speed of the vehicle A joining the vehicle network, a lane on which the vehicle A should run, a distance between the vehicle A and a front vehicle, a distance between the vehicle A and a surrounding obstacle, a relative speed and the like.
Preferably, after the vehicle network is formed, in order to operate the vehicle network under an optimized condition, all vehicles in the vehicle network are preferably arranged in the same lane and run at the same speed, and the running speed of the vehicle a after joining the vehicle network should be consistent with that of other vehicles and run in the same lane with other vehicles, in addition to the above driving strategy, the position of the vehicle a after joining the vehicle network in the vehicle network is also included.
Based on the above embodiments, in a preferred embodiment consistent with the present invention, the driving behavior corresponds to the driving strategy, and includes one or more of acceleration, deceleration, current speed maintenance, lane change, and passing. After the driving strategy is determined, the vehicle sending the networking request needs to execute corresponding driving behaviors to complete the driving strategy, which is exemplified by combining with the accompanying drawings.
Referring to fig. 2, for a situation that a vehicle joins in a vehicle network, the vehicle network originally includes three ABD vehicles, the vehicle C joins the vehicle network after sending a networking request, the vehicle C is currently located on a right lane of a lane where the vehicle network is located, and is located at a position between a second vehicle and a third vehicle of the vehicle network on a horizontal position, the vehicle C determines that a driving strategy according to original data and external data information is that a vehicle speed is the same as the vehicle network, a driving lane is the lane where the vehicle network is located, the position where the vehicle C joins the vehicle network is between the second vehicle and the third vehicle, and a distance from a front vehicle is L, an execution module of the vehicle a executes a corresponding driving behavior according to the driving strategy, the vehicle ABD determines its own driving strategy after acquiring driving strategies of other vehicles except itself through data sharing, and executes the corresponding driving behavior, if the AB vehicle keeps the current speed and the current lane continues to run, the vehicle D decelerates under the condition of safety after detection, the distance between the vehicle D and the vehicle B is separated, and the vehicle C executes corresponding driving behaviors to enter the corresponding lane, such as acceleration and lane change. And after the vehicle C enters the lane where the vehicle network is located, the vehicle C and the vehicle D adjust the speed to reach the distance from the front vehicle and stably run at the corresponding speed to form a stable vehicle network, and the driving behavior corresponding to the driving strategy is the current speed.
Referring to fig. 3, in order to solve the problem that the vehicle network encounters an obstacle during normal driving, the vehicle network includes four ABCD vehicles, the vehicle a is located at the head of the vehicle, the vehicle a shares data with other vehicles after detecting that an obstacle exists in front of 100m, because the data is shared in real time, the other vehicles share all the detected data with each other, and according to the detected data, no vehicle or obstacle exists in the corresponding position of the right lane, the decision module determines that the driving lane is the right lane, and all the vehicles in the vehicle network perform right lane changing driving behavior. If the current lane is the leftmost lane, and other vehicles are detected in the right lane by the vehicles in the vehicle network, the vehicles in the vehicle network execute corresponding deceleration and lane change behaviors to avoid the obstacle, and the driving of the fleet is resumed according to the surrounding environment condition after the obstacle is avoided. If the vehicle network detects that the vehicle in front slowly runs, corresponding overtaking driving behaviors can be executed according to the decision. In any case, due to data sharing, the vehicles in the vehicle network can make timely and accurate decisions and execute corresponding driving behaviors.
Referring to fig. 4, in the case that a vehicle exits from the vehicle network, the vehicle network includes four ABCD vehicles, the vehicle D at the tail of the queue in the vehicle network needs to exit from the vehicle network, and all the vehicles in the vehicle network determine a corresponding driving strategy according to the shared data condition and perform a driving action, for example, the driving strategy of other vehicles in the vehicle network is to keep running at a current speed, and the vehicle D decelerates or changes lane to leave the vehicle network.
Referring to fig. 5, in a case that a vehicle exits from a vehicle network, the vehicle network includes four ABCD vehicles, a vehicle B in a fleet in the vehicle network needs to exit from the vehicle network, all vehicles in the vehicle network determine a corresponding driving strategy according to a shared data condition and execute a driving behavior, for example, a driving speed in the driving strategy of a vehicle a in the vehicle network is a current speed or a speed higher than the current speed, a corresponding driving behavior is to keep the original speed driving or accelerating, a driving speed in the driving strategies of a vehicle C and a vehicle D is a speed the same as or lower than the current speed, a corresponding driving behavior is to keep the original speed driving or decelerating, a driving lane in the driving strategy of the vehicle is a right lane, and a corresponding driving behavior is to change lane.
Referring to fig. 6, a schematic structural diagram of an auto-networking multi-vehicle cooperative automatic driving system according to another preferred embodiment further includes a driving model construction module that constructs a virtual network model including all the auto-driven vehicles in the vehicle network according to the original data of the auto-driven vehicles and the external data. In this embodiment, the driving model construction module constructs a virtual network model including all autonomous vehicles in the vehicle network according to the raw data thereof and the external data obtained by data sharing, thereby enabling more accurate and comprehensive driving control. In one embodiment, the vehicle network comprises a plurality of vehicles forming an autonomous vehicle fleet consisting of a head vehicle, a tail vehicle, an intermediate vehicle 1, an intermediate vehicle 2, and an intermediate vehicle n. After the networking of the fleet is successful, all vehicles share the data acquired respectively, a virtual network model based on the fleet is established through data fusion, the virtual network model is a driving model and comprises fleet speed, the front-back distance of each vehicle, the distance between a head vehicle and a front vehicle or an obstacle, relative speed, the distance between a tail vehicle and a rear vehicle, the relative speed, the distance between each vehicle and a side obstacle, the relative speed, a driving route and the like.
The virtual network model is not required to be established for each vehicle, the virtual network model of the whole vehicle network can be established by the driving model establishing module of any vehicle in the vehicle network and shared to other vehicles, and the decision modules of all vehicles determine the driving strategy according to the virtual network model and execute corresponding driving behaviors. Preferably, this virtual network model can be built by the head car, since the head car has more direct data information to the front vehicle and the obstacle, and reacts faster.
Based on the above embodiment, in a preferred embodiment consistent with the present invention, when the networking module receives the networking request of the other autonomous vehicles, it is determined whether the networking request conforms to the virtual network model of the vehicle network. In this embodiment, when any vehicle in the vehicle network receives a networking request of another autonomous vehicle, it is determined whether the networking request conforms to the virtual network model according to the content of the networking request, for example, whether the destination of the networking request matches the driving route of the virtual network model, whether the speeds match, and the like, and if so, the request is received, networking is performed, and how to adjust the driving strategy of each vehicle based on the virtual network model is calculated so that the vehicle enters the vehicle network.
Based on the above embodiment, in a preferred embodiment consistent with the present invention, the driving model building module executes vehicle join, exit, and lane change operations. After the driving model building module builds the virtual network model, all driving strategies of the vehicle can be calculated based on the virtual network model, such as vehicle joining operation, vehicle quitting operation, lane changing operation and the like. Specifically, when other vehicles wish to join, the optimal position is calculated according to the position and the distance based on the virtual network model, the vehicle positioned in front of the optimal position keeps constant speed, and the vehicle at the rear decelerates until the length is enough to enter the motorcade. When a vehicle sends a command of driving away from the fleet, the vehicle positioned in front of the vehicle accelerates until the vehicle and the vehicle in front have enough length to safely drive out of the fleet, and then the fleet restores the safe distance. When the front vehicle detects that an obstacle exists in front of the front vehicle or the front vehicle needs to change lanes, the driving model building module is used for calculating how each vehicle changes lanes and shares the lane with other vehicles, and all vehicles of the fleet execute driving behaviors according to the calculation result, such as unified deceleration lane change.
After the technical scheme is adopted, the driving strategies of all vehicles can be calculated through the virtual network model, the vehicles really form a unified whole, and more accurate and comprehensive driving control is realized.
On the other hand, the invention also provides an automatic networking multi-vehicle cooperative automatic driving method. Referring to fig. 7, a schematic flow chart of an automatic networking multi-vehicle cooperative automatic driving method according to a preferred embodiment of the present invention includes the following steps: the method comprises the steps that the automatic driving vehicle sends networking requests to other automatic driving vehicles or receives networking requests of other automatic driving vehicles to form a vehicle network, if the automatic driving vehicle sends networking requests to other automatic driving vehicles, networking is carried out according to the fact that other vehicles receive the networking requests, if the automatic driving vehicle receives the networking requests of other automatic driving vehicles, the method further comprises the step of judging whether the networking requests are matched with the driving conditions of the automatic driving vehicle according to the networking requests to determine whether to accept the networking requests, specific processes are not described again, and the embodiment is referred to; after forming a vehicle network, the autonomous vehicles sharing raw data with the other autonomous vehicles within the vehicle network or receiving extrinsic data shared by the other autonomous vehicles; the autonomous vehicle determining a driving strategy based on at least one of the raw data and the extrinsic data of the autonomous vehicle; the autonomous vehicle executes a driving action according to the driving strategy. Preferably, the method further comprises the step of establishing a virtual network model, and more comprehensive control is realized through the virtual network model.
The invention also provides an automatic driving vehicle which comprises a wireless communication unit, a radar, a camera and an automatic driving domain controller, wherein the automatic driving domain controller executes the multi-vehicle cooperative automatic driving method. The wireless communication unit is used for real-time communication among vehicles, the radar and the camera are used for detecting surrounding environment data, for example, the radar is responsible for collecting distances and speeds of obstacles around each vehicle, the camera is responsible for collecting the surrounding data including the vehicles, people and obstacles in front, and the automatic driving area controller executes the multi-vehicle cooperative automatic driving method.
By adopting the technical scheme of the invention, the sensor data sharing and the vehicle driving data sharing of different vehicles can be realized through the multi-vehicle network, so that the burden of a single-vehicle sensor is reduced, and more accurate and comprehensive driving control is realized. Meanwhile, the multi-vehicle networking is not only limited to data sharing of the sensors, the vehicle speed can be controlled, under the condition that the multiple vehicles keep the same vehicle speed, the data required to be detected by the sensors is reduced, if the following vehicles run at the same speed, the following vehicles do not need to be detected, if the vehicle speed of the following vehicles changes suddenly, the front vehicles can also know in time through data sharing, the vehicle speed can be detected or adjusted in time, in addition, through data sharing, mutual verification can be carried out between the data of a single vehicle and the external data shared by other vehicles, and the accuracy of the data is improved.
It should be noted that the embodiments of the present invention have been described in terms of preferred embodiments, and not by way of limitation, and that those skilled in the art can make modifications and variations of the embodiments described above without departing from the spirit of the invention.
Claims (10)
1. An automatic networking multi-vehicle cooperative automatic driving system is suitable for automatic driving vehicles and is characterized by comprising a networking module, a data sharing module, a decision module and an execution module;
the networking module sends networking requests to other automatic driving vehicles or receives networking requests of other automatic driving vehicles to form a vehicle network;
the data sharing module sharing raw data to the other autonomous vehicles within the vehicle network or receiving extrinsic data shared by the other autonomous vehicles;
the decision module determines a driving strategy according to at least one of the raw data and the extrinsic data of the autonomous vehicle;
the execution module executes a driving behavior according to the driving strategy.
2. The auto-networking multi-vehicle cooperative automatic driving system according to claim 1, wherein the networking module comprises a request sending unit and a request receiving unit;
the sending request unit sends networking requests to other automatic driving vehicles;
the receiving request unit receives networking requests of other automatic driving vehicles;
the other autonomous vehicles include autonomous vehicles not belonging to any of the vehicle networks or autonomous vehicles belonging to a certain one of the vehicle networks.
3. The auto-networked multi-vehicle cooperative auto-driving system according to claim 1, wherein the networking request includes one or more of a destination, a current vehicle speed, a speed to be traveled, a time to arrive, and current location information.
4. The auto-networked multi-vehicle cooperative auto-driving system of claim 1, wherein the driving strategy comprises one or more of a driving speed, a driving lane, a distance to a preceding vehicle, a distance to an obstacle, a relative speed to an obstacle.
5. The auto-networked multi-vehicle cooperative auto-driving system of claim 4, wherein the driving behavior corresponds to the driving strategy, including one or more of acceleration, deceleration, maintaining current speed, lane change, passing.
6. The auto-networked multi-vehicle cooperative automatic driving system according to claim 1, further comprising a driving model construction module that constructs a virtual network model containing all the automatic driving vehicles in the vehicle network based on the original data of the automatic driving vehicles and the extraneous data.
7. The auto-networked multi-vehicle cooperative automatic driving system according to claim 6, wherein when the networking module receives the networking request of the other auto-driven vehicles, it is determined whether the networking request conforms to a virtual network model of the vehicle network.
8. The auto-networking multi-vehicle cooperative automatic driving system according to claim 6, wherein the driving model construction module performs vehicle joining, exiting and lane changing operations.
9. An automatic networking multi-vehicle cooperative automatic driving method is suitable for automatic driving vehicles and is characterized by comprising the following steps:
the automatic driving vehicle sends networking requests to other automatic driving vehicles or receives networking requests of other automatic driving vehicles to form a vehicle network;
the autonomous vehicle sharing raw data with the other autonomous vehicles within the vehicle network or receiving extrinsic data shared by the other autonomous vehicles;
the autonomous vehicle determining a driving strategy based on at least one of the raw data and the extrinsic data of the autonomous vehicle;
the autonomous vehicle executes a driving action according to the driving strategy.
10. An autonomous vehicle comprising a wireless communication unit, a radar, a camera, and an autonomous driving domain controller, the autonomous driving domain controller performing the multi-vehicle cooperative autonomous driving method according to claim 9.
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