CN113781764A - Method for enabling unmanned vehicle to exit marshalling driving - Google Patents

Method for enabling unmanned vehicle to exit marshalling driving Download PDF

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Publication number
CN113781764A
CN113781764A CN202111146729.6A CN202111146729A CN113781764A CN 113781764 A CN113781764 A CN 113781764A CN 202111146729 A CN202111146729 A CN 202111146729A CN 113781764 A CN113781764 A CN 113781764A
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vehicle
marshalling
running
road
management system
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CN202111146729.6A
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Inventor
彭挺
苏权科
杨克胜
李源
李俊
周桃琰
吴恒
张星婕
刘洁
李纪亭
胡旭
王蒙阳
刘吉祥
张雄伟
张剑波
莫林海
吴洁
尹萍
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Changan University
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Changan University
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Priority to CN202111146729.6A priority Critical patent/CN113781764A/en
Publication of CN113781764A publication Critical patent/CN113781764A/en
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • G05D1/0027—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement involving a plurality of vehicles, e.g. fleet or convoy travelling
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a method for an unmanned vehicle to exit from marshalling and run. The vehicle quitting marshalling running is that a request for quitting marshalling running is sent to a road management system through a vehicle-mounted terminal, the road management system inquires a proper place for quitting marshalling running according to information contained in the request instruction, and then the vehicle quits the marshalling running through a space-time locking method. In the process, the road management system can ensure the traffic safety when the unmanned vehicles and the vehicle groups are locked. The unmanned vehicles are grouped to run, so that the road utilization rate, the traffic capacity and the safety can be effectively improved. All the unmanned vehicles and the road management system use a unified control protocol, so that real-time information interaction between all the unmanned vehicles and the road management system can be realized, and the unmanned vehicles and the road management system are more convenient to manage and safe.

Description

Method for enabling unmanned vehicle to exit marshalling driving
Technical Field
The invention relates to the technical field of unmanned driving, in particular to a method for an unmanned vehicle to exit from marshalling and run.
Background
The traditional manned automobile has the defects that the technical level, the psychological quality, the on-site reaction capability and other factors of drivers are different, so that the unified allocation of vehicles running on a road is difficult, and the utilization rate of the road cannot be released to the maximum.
Unmanned vehicles develop rapidly at the present stage. With the rapid development of unmanned vehicle technology, vehicle marshalling has also received attention. The unmanned vehicles are uniformly allocated, and the possibility of a marshalling driving mode is greatly improved. Compared with the vehicle marshalling formed by the manned vehicles, the vehicle marshalling formed by the unmanned vehicles avoids individual difference of the manned vehicle drivers due to the adoption of the unified regulation and control of the management system, greatly improves controllability and harmony, and has feasibility. When the vehicles in the marshalling driving at the present stage exit the marshalling, the influence on other vehicles is large, the phenomena of vehicle rubbing or vehicle blocking are easy to occur, and the smooth operation of road traffic is not facilitated. How to safely and quickly exit the marshalling driving of the unmanned vehicle in the marshalling driving without influencing the normal driving of other vehicles is a problem which needs to be solved urgently at present. The invention provides a method for locking time and space of unmanned vehicles to exit from marshalling and drive by adopting a road management system, aiming at the problem that the vehicles exit from marshalling when the unmanned vehicles drive in marshalling and drive.
Disclosure of Invention
The invention aims to provide a method for enabling an unmanned vehicle to exit from marshalling driving. On the road on which the unmanned vehicle runs, different vehicles, vehicle marshalling and road management systems adopt the same control protocol, and real-time communication and information interaction among the different vehicles, the different marshalling and road management systems can be realized.
The technical scheme adopted by the invention is as follows: a method for an unmanned vehicle to exit a consist drive. Comprises the following steps:
step 1: when a vehicle in a group running fleet wants to quit group running for various reasons on a road on which an unmanned vehicle runs, the vehicle sends a request for quitting group running to a road management system through a vehicle-mounted terminal.
Step 2: after receiving an application for exiting marshalling driving sent by a vehicle, a road management system firstly judges whether the road condition meets the requirement that the vehicle exits marshalling driving according to a predicted marshalling exiting driving place contained in the application;
and step 3: the road condition does not allow exiting the marshalling driving, the road management system feeds back the information to the unmanned vehicle, and the unmanned vehicle executes the step 1;
and 4, step 4: the road condition allows the vehicle to exit the marshalling for driving, the road management system can determine the time and the place for the vehicle to exit the marshalling for driving according to the road condition, and simultaneously the road management system performs the time-space locking when the vehicle exits the marshalling for driving, specifies the time and the space during the process of exiting the marshalling, and sends the time-space locking information to the unmanned vehicle and the marshalling fleet together;
and 5: and after receiving the command which is sent by the road management system and can exit the marshalling running, the unmanned vehicle exits the marshalling fleet according to the space-time lock distributed by the road management system, and the vehicle exits the marshalling running.
Preferably, the space-time locking is that in the next period from the current time to the next period of each unmanned vehicle, the road management system allocates a space, the starting point of the space is the initial position of the vehicle in one period, the end point of the space is the position of the vehicle which is driven at the end of one period plus the safety distance, and the width direction is the width of the vehicle plus the lateral safety distances on the left and right sides.
Preferably, the unmanned vehicles and the marshalling fleet are driven on the road in a space-time locking manner. The road management system regards a vehicle that is not involved in the formation travel as a unit, and a vehicle group that is involved in the formation travel as a unit. And each unit is subjected to space-time locking by the road management system in a period, and the space-time locking is updated at the beginning of the next period. Space-time locking between different units does not have overlapping intersection in the same time space.
Preferably, the road management system is a segmented management system. The road is divided into a plurality of sections, each section is internally provided with a management system for managing the section, and the management systems of different sections can communicate with each other in real time to exchange information.
Preferably, the road management system has functions of: the system receives and transmits various information from the unmanned vehicles and other segment management systems, and automatically judges whether the road conditions meet the requirement that the vehicles exit from marshalling running, and performs time-space locking on the unmanned vehicles and the marshalling running fleet.
Preferably, the road management system and the unmanned vehicle use a unified space-time locking control protocol, and real-time interaction of information of the road management system and the unmanned vehicle can be realized.
Preferably, the road on which the unmanned vehicle runs is a road on which only the unmanned vehicle is allowed to run. The road can simultaneously exist a plurality of grouped fleets, and the number of the grouped fleets is not limited.
Preferably, the group running vehicle fleet is a line of vehicle fleets in the same lane, that is, the vehicles in the group are arranged in tandem.
Preferably, the number of vehicles in the group running fleet is not limited.
Preferably, in the step 2, the determination of whether the road condition satisfies the vehicle exit from the formation running means that the road management system determines whether the point where the vehicle exits from the formation running is interfered by other lane vehicles, whether the road allows the vehicle to change lanes, and the like.
Preferably, in the step 5, when the vehicle exits from the marshalling, the vehicle exits from the marshalling at the head of the team, the vehicle exits from the marshalling at the tail of the team, and the vehicle exits from the marshalling in the team.
The specific steps of the first vehicle exiting from the formation (the vehicle at the forefront of the formation running fleet exits from the formation running) are as follows: the vehicle at the forefront end of the marshalling applies for quitting the marshalling running, the road management system can carry out the spatio-temporal locking of the first vehicle quitting the marshalling running according to the road condition, the first vehicle drives away from the marshalling running fleet according to the spatio-temporal locking instruction, and the first vehicle quitting the marshalling running is completed.
The specific steps of the vehicle in the team exiting the marshalling running (the vehicle in the middle of the marshalling running fleet exiting the marshalling running) are as follows: vehicles in the middle of the marshalling running fleet apply for quitting the marshalling running, the road management system can perform space-time locking for the vehicles in the fleet to quit the marshalling running according to road conditions, the vehicles in the fleet drive away from the marshalling running fleet according to space-time locking instructions, and the vehicles in the fleet quit the marshalling running.
The specific way for the vehicle at the tail of the formation to exit the formation (the vehicle at the rearmost end of the formation running fleet exits the formation running) is as follows: and the vehicle at the rearmost end of the marshalling applies for quitting the marshalling running, the road management system can carry out space-time locking for the vehicle at the tail of the team to quit the marshalling running according to the road conditions, the vehicle at the tail of the team drives away from the marshalling running team according to the space-time locking instruction, and the vehicle at the tail of the team finishes the marshalling running.
Compared with the prior art, the invention has the following beneficial effects:
the vehicle-mounted unmanned vehicle can effectively improve the road utilization rate, traffic capacity and safety when the vehicle-mounted unmanned vehicle runs in a marshalling mode or a vehicle-mounted unmanned vehicle and a vehicle-mounted unmanned vehicle run in a mixed mode. All the unmanned vehicles and the road management system use a unified control protocol, so that real-time information interaction between all the unmanned vehicles and the road management system can be realized, and the unmanned vehicles and the road management system are more convenient to manage and safe.
By adopting the technical method of the road management system for carrying out space-time locking and the vehicles quitting marshalling and running, the marshalling among the vehicles is more convenient, quicker and more reasonable, the road utilization rate and the traffic capacity can be improved, the traffic congestion is relieved, and the energy is saved.
Drawings
FIG. 1 is a flow chart of an unmanned vehicle exiting a consist trip;
FIG. 2 is a schematic representation of the unmanned vehicle spatiotemporal locking, where the various reference numbers have the meaning: 1-a single unmanned vehicle, 2-a space top view of a space-time lock of a vehicle, 3-a space top view of a space-time lock of a grouping fleet, and 4-a grouping traveling fleet.
Detailed Description
In order that the objects, technical solutions and advantages of the present invention will become more apparent, the present invention will be further described in detail with reference to the accompanying drawings in conjunction with the following specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention.
Example (b): driverless vehicle exiting marshalling
Referring to fig. 1, there is shown a flowchart of an unmanned vehicle exiting a consist driving using a space-time locking method by a road management system.
Step 1: when a vehicle in a group running fleet wants to quit group running for various reasons on a road on which an unmanned vehicle runs, the vehicle sends a request for quitting group running to a road management system through a vehicle-mounted terminal.
Step 2: after receiving a request for exiting from the marshalling, a road management system firstly judges whether road conditions such as the marshalling running speed of the unmanned vehicle, other vehicles around the expected exiting marshalling running place of the vehicle or a marshalling fleet and the like meet the requirement for exiting the marshalling running of the vehicle;
and step 3: the road condition does not allow exiting the marshalling driving, the road management system feeds back the information to the unmanned vehicle, and the unmanned vehicle executes the step 1;
and 4, step 4: the road condition allows the vehicle to exit the marshalling for driving, the road management system can determine the time and the place for the vehicle to exit the marshalling for driving according to the road condition, and simultaneously the road management system performs the time-space locking when the vehicle exits the marshalling for driving, specifies the time and the space during the process of exiting the marshalling, and sends the time-space locking information to the unmanned vehicle and the marshalling fleet together;
and 5: after receiving a command which is sent by a road management system and can exit the grouped driving, the unmanned vehicles exit the grouped fleet according to the space-time locking distributed by the road management system, the road management system forms the rest vehicles in the grouped fleet into a new grouped fleet, and all vehicles and the grouped fleet drive in a space-time locking mode;
step 6: and finishing the operation of exiting the marshalling and running of the unmanned vehicle.
It is worth mentioning that the vehicle exit from the consist driving includes three types of the vehicle exit from the consist driving in the head of the line, the vehicle exit from the consist driving in the middle of the line, and the vehicle exit from the consist driving in the tail of the line.
Preferably, the space-time locking is that in the next period from the current time to the next period of each unmanned vehicle, the road management system allocates a space, the starting point of the space is the initial position of the vehicle in one period, the end point of the space is the position of the vehicle which is driven at the end of one period plus the safety distance, and the width direction is the width of the vehicle plus the lateral safety distances on the left and right sides.
Reference is made to fig. 2, which is a schematic spatial view of the space-time locking of an unmanned vehicle. When space locking is performed, with DiIndicating the locking distance of the vehicle in the direction of travel, DjIndicating a lateral locking distance; when the speed difference deltav exists between the front and rear vehicles, the front and rear locking spacing of the vehicles should be changed correspondingly. The specific locking range is calculated according to the following formula:
Di＝0.5v+0.3Δv
Dj＝0.7+|0.1v|
Δv＝v2-v1
wherein v is2Is the real-time running speed of the rear vehicle; v. of1Is the real-time running speed of the front vehicle. When Δ v > 0, the front-rear locking pitch of the vehicle is increased by 0.3 Δ v for safety, and conversely, is decreased.
Preferably, the unmanned vehicles and the marshalling fleet are driven on the road in a space-time locking manner. The road management system regards a vehicle that is not involved in the formation travel as a unit, and a vehicle group that is involved in the formation travel as a unit. And each unit is subjected to space-time locking by the road management system in a period, and the space-time locking is updated at the beginning of the next period. Space-time locking between different units does not have overlapping intersection in the same time space.
Preferably, the road management system is a segmented management system. The road is divided into a plurality of sections, each section is internally provided with a management system for managing the section, and the management systems of different sections can communicate with each other in real time to exchange information.
Preferably, the road management system has functions of: the system receives and transmits various information from the unmanned vehicles and other segment management systems, and automatically judges whether the road conditions meet the requirement that the vehicles exit from marshalling running, and performs time-space locking on the unmanned vehicles and the marshalling running fleet.
Preferably, the road management system and the unmanned vehicle use a unified space-time locking control protocol, and real-time interaction of information of the road management system and the unmanned vehicle can be realized.
Preferably, the group running vehicle fleet is a line of vehicle fleets in the same lane, that is, the vehicles in the group are arranged in tandem. There is no limit to the number of vehicles in a group running fleet.

Claims (10)

1. A method of exiting consist driving of an unmanned vehicle, comprising the steps of:
step 1: on a road on which an unmanned vehicle runs, when one vehicle in a marshalling running fleet needs to quit the marshalling running, the vehicle sends a request for quitting the marshalling running to a road management system through a vehicle-mounted terminal;
step 2: after receiving an application for exiting the marshalling driving from a vehicle, a road management system firstly judges whether the road conditions such as a position lane, an adjacent lane and the like allow the vehicle to exit the marshalling driving according to information such as a predicted marshalling-exiting driving place contained in an application instruction;
and step 3: the vehicle is expected to exit the marshalling driving place lane and the adjacent lane are occupied by other vehicles, the road condition does not allow exiting the marshalling driving, the road management system feeds back the information to the unmanned vehicle, and the unmanned vehicle executes the step 1;
and 4, step 4: the vehicle is expected to leave the idle lanes at the marshalling running place and adjacent lanes, the road condition allows the vehicle to leave the marshalling running, the road management system can determine the time and the place when the vehicle leaves the marshalling running according to the road condition, and simultaneously, the road management system performs space-time locking when the vehicle leaves the marshalling running and sends space-time locking information to the unmanned vehicle and the marshalling fleet together;
and 5: and after receiving the command which is sent by the road management system and can exit the marshalling running, the unmanned vehicle exits the marshalling fleet according to the space-time lock distributed by the road management system, and the vehicle exits the marshalling running.
2. The method of claim 1, wherein the space-time locking is performed from the current time to the next period of each unmanned vehicle, the road management system allocates a space, the starting point of the space is the initial position of the vehicle in one period, the ending point of the space is the position of the vehicle which is driven to the end of one period plus the safety distance, and the width direction is the width of the vehicle plus the lateral safety distance on the left and right sides.
3. The method of claim 1, wherein the unmanned vehicles and the grouped fleet are driven on the road in a time-space locking manner, the road management system considers the vehicles not added to the grouped train as a unit, the grouped train is considered as a unit, each unit is subjected to time-space locking by the road management system in a period, the time-space locking is updated at the beginning of the next period, and the time-space locking between different units does not exist overlapping intersection in the same time space.
4. The method of claim 1, wherein the road management system is a segmented management system, i.e. a road is divided into multiple segments, each segment has a management system for managing the segment, and the management systems in different segments can communicate with each other in real time to exchange information.
5. The method of claim 1, wherein the road management system is configured to receive and transmit various information from the unmanned vehicles and other segment management systems, determine whether road conditions satisfy the requirements for exiting the consist, and lock the unmanned vehicles and the consist fleet in space and time.
6. The method as claimed in claim 1, wherein the road management system and the unmanned vehicle use a unified space-time locking control protocol to realize real-time interaction between two information.
7. The method of claim 1, wherein the driverless vehicle is driven on a road that allows driverless vehicles to travel only, a plurality of grouping fleets may exist on the road at the same time, and the number of the grouping fleets is not limited.
8. The method of claim 1, wherein the vehicle group is a single vehicle group in the same lane, i.e. the vehicles in the group are grouped in tandem, and the number of the vehicles in the vehicle group is not limited.
9. The method as claimed in claim 1, wherein the step 2 of determining whether the road condition is satisfied is that the road management system determines whether the point where the vehicle is going to exit the consist has interference from other lane vehicles, and whether the road allows the vehicle to change lanes.
10. The method of claim 1, wherein the step 5 of exiting the marshalling of the unmanned vehicle comprises exiting the marshalling of the vehicle at the head of the team, exiting the marshalling of the vehicle at the tail of the team, and exiting the marshalling of the vehicle in the team.
The following is a brief overview of the complete action of three types of vehicle exit consist driving.
The specific steps of the first vehicle exiting from the formation (the vehicle at the forefront of the formation running fleet exits from the formation running) are as follows: the vehicle at the forefront end of the marshalling applies for quitting the marshalling running, the road management system can carry out the spatio-temporal locking of the first vehicle quitting the marshalling running according to the road condition, the first vehicle drives away from the marshalling running fleet according to the spatio-temporal locking instruction, and the first vehicle quitting the marshalling running is completed;
the specific steps of the vehicle in the team exiting the marshalling running (the vehicle in the middle of the marshalling running fleet exiting the marshalling running) are as follows: vehicles in the middle position of a grouped running fleet apply for quitting grouped running, a road management system can carry out space-time locking for quitting grouped running of the vehicles in the fleet according to road conditions, the vehicles in the fleet drive away from the grouped running fleet according to space-time locking instructions, and the quitting grouped running of the vehicles in the fleet is finished;
the specific way for the vehicle at the tail of the formation to exit the formation (the vehicle at the rearmost end of the formation running fleet exits the formation running) is as follows: and the vehicle at the rearmost end of the marshalling applies for quitting the marshalling running, the road management system can carry out space-time locking for the vehicle at the tail of the team to quit the marshalling running according to the road conditions, the vehicle at the tail of the team drives away from the marshalling running team according to the space-time locking instruction, and the vehicle at the tail of the team finishes the marshalling running.
CN202111146729.6A 2021-09-28 2021-09-28 Method for enabling unmanned vehicle to exit marshalling driving Pending CN113781764A (en)

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Publication number Priority date Publication date Assignee Title
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JP2016146130A (en) * 2015-02-09 2016-08-12 アイシン・エィ・ダブリュ株式会社 Convoy traveling management device and convoy traveling management program
CN107564317A (en) * 2017-10-27 2018-01-09 左依宁 A kind of automatic driving vehicle control system and method
CN107798861A (en) * 2017-11-30 2018-03-13 湖北汽车工业学院 A kind of vehicle cooperative formula formation running method and system
CN110276945A (en) * 2019-07-19 2019-09-24 东北大学 A kind of automatic driving vehicle grouping method

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016146130A (en) * 2015-02-09 2016-08-12 アイシン・エィ・ダブリュ株式会社 Convoy traveling management device and convoy traveling management program
CN105809950A (en) * 2016-03-28 2016-07-27 重庆邮电大学 Vehicle fleet forming method and system based on vehicle road collaboration technology
CN107564317A (en) * 2017-10-27 2018-01-09 左依宁 A kind of automatic driving vehicle control system and method
CN107798861A (en) * 2017-11-30 2018-03-13 湖北汽车工业学院 A kind of vehicle cooperative formula formation running method and system
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