CN113963561B - Autonomous driving vehicle group control method and communication system - Google Patents
Autonomous driving vehicle group control method and communication system Download PDFInfo
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- CN113963561B CN113963561B CN202111350760.1A CN202111350760A CN113963561B CN 113963561 B CN113963561 B CN 113963561B CN 202111350760 A CN202111350760 A CN 202111350760A CN 113963561 B CN113963561 B CN 113963561B
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- 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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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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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
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to the technical field of automatic driving of automobiles, in particular to an autonomous driving automobile group control method and a communication system, which comprise the following steps: s1: establishing a first communication network among different vehicles to form a small group; s2: the vehicle running information sharing is carried out among the insides of the small groups, and the surrounding vehicle running information is obtained; s3: establishing a second communication network among different small groups to form a large group; s4: carrying out operation information sharing of different small groups in the large group to obtain small group operation information; s5: and (5) dividing the running traffic into small groups and large groups for management. The invention provides an autonomous driving vehicle group control method based on existing traffic hardware, which realizes intelligent regulation and control of combination of automatic driving, man-vehicle sharing, remote communication and vehicle-mounted sensors.
Description
Technical Field
The invention relates to the technical field of automatic driving of automobiles, in particular to an autonomous driving automobile group control method and a communication system.
Background
The problems of the existing traffic system have the following problems: 1. in the expressway, the speed of vehicles is uneven, and the front vehicles run at a low speed or run side by side, so that large-area traffic jam and reduction of the traffic speed can be caused. 2. In urban traffic, the traffic light system occupies most of travel time, so that energy is wasted greatly, and travel efficiency is reduced. 3. In urban traffic, scheduling cannot be optimized, and the phenomenon of vehicle tie-up operation is very common. 4. In addition, the basis of the operation of the existing traffic system is that traffic signals and the like are correctly operated and the proficiency of each driver in driving the vehicle is very easy to cause traffic jam and traffic accidents, and serious public transportation problems, pedestrian problems, parking problems and the like are caused. These all directly lead to a great degree of waste of existing energy and human life safety problems. The intelligent automatic driving method for automobile has the advantages that the intelligent perception of the automobile is used for replacing traffic signals, and the automatic driving of the automobile is used for replacing drivers with uneven driving technology, so that the congestion pressure of modern alternate systems is relieved, and the road safety is improved.
The chinese patent CN113034950a discloses an intelligent driving method and system, which can solve the above problems, but the system uploads all relevant information of all vehicles passing including vehicle dynamics, bridge monitoring information, road resource usage, pedestrian dynamics, driving direction monitoring image, management personnel and vehicle positioning, payment information of the same vehicles, traffic light command information, traffic control information, police control information and road configuration information to a cloud server, and then uniformly arranges driving of the vehicles through the cloud server.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides an autonomous driving vehicle group control method for realizing intelligent regulation and control of automatic driving of vehicles, sharing of people and vehicles and combination of remote communication and vehicle-mounted sensors.
In order to solve the technical problems, the invention adopts the following technical scheme:
an autonomous driving group control method is provided, comprising the following steps:
s1: establishing a first communication network among different vehicles to form a small group;
s2: the vehicle running information sharing is carried out among the insides of the small groups, and the surrounding vehicle running information is obtained;
s3: establishing a second communication network among different small groups to form a large group;
s4: carrying out operation information sharing of different small groups in the large group to obtain small group operation information;
s5: and (5) dividing the running traffic into small groups and large groups for management.
In order to improve the cooperative cross motion attribute of local vehicles and whole vehicles, the small groups are divided according to the number and the distance of the vehicles, and the large groups are mainly divided by the distance. The signal communication inside the small group is convenient for adjusting the position, the speed, the lanes, the routes and the like among the small groups of vehicles, and the condition of the running routes of the vehicles is prejudged and adjusted in real time. The main function of the large group is to adjust the positions, the speeds, the lanes, the routes and the like of a plurality of small groups in the large group, regulate and control the distance between the small groups, pre-judge traffic congestion and intersection, realize the adjustment of the driving routes and the distance of each small group in the large group and realize the optimal driving condition. Moreover, through the division of groups, the internal pressure of each communication network can be reduced, redundant information is reduced, each communication network is only responsible for partial content, and then the whole vehicle operation information is acquired through the information exchange among different communication networks, so that the information processing speed and the processing efficiency in the communication networks and among the communication networks can be greatly improved, the operation state of the vehicle can be adjusted more timely when the emergency is dealt with, and the potential safety hazard is greatly reduced.
Further, managing the small group includes:
(1) Group internal management: receiving running information of each vehicle in the small group in real time, and intelligently controlling adjustment of vehicle distance, vehicle speed and arrangement sequence of the vehicles in the small group and entering and exiting of the vehicles in the small group;
(2) Inter-group management: and adjusting the groups to keep constant group spacing, group moving speed and group order operation.
Further, managing the large group comprises receiving operation information of each small group in the large group in real time, calculating and analyzing the operation information of each small group, intelligently controlling vehicles to enter and exit the large group, and completing the whole intelligent allocation.
Further, the priority order of the communications is as follows: vehicle interior manipulation > minor group interior signal > major group interior signal.
Further, the step S1 includes the steps of:
s11: assigning unique identification codes to each vehicle;
s12: each vehicle takes the vehicle as a center and initiates communication connection between the vehicle and surrounding vehicles;
s13: verifying the identification code, and entering a small group if verification is successful; if the verification fails, the small group cannot be entered, and the process returns to step S12.
Further, the vehicles in the small group keep constant speed for running, wherein the constant speed is determined according to the following formula:
wherein, the liquid crystal display device comprises a liquid crystal display device,
for the speed of the vehicle in the small group, < > is>
Speed of the host vehicle>
The relative speed is V, the constant speed in the small group, and the value range of i is +.>
Where n is the number of cluster vehicles.
Further, the vehicles in the small group keep a certain vehicle distance in the running process, and the calculation formula of the vehicle distance is as follows:
wherein L is the distance between vehicles,
the speed of the vehicle.
Further, the specific steps of calculating and analyzing the different group operation information are as follows:
s41: receiving group operation information: including overall vehicle speed, direction, altitude, traffic information, driving demand, minor group size and specific dimensions.
S42: calculating expected operation routes of all the small groups according to the received information;
s43: and (3) judging: and judging the driving influence range of each minor group according to the expected running route and the size of each minor group, judging whether the safety distance between the minor groups is crossed and collided when running on the expected route, and judging whether the expected route collides with traffic signals.
S44: decision making: after the judgment is completed, if the cross, collision, conflict and the like do not occur, all vehicles run according to the expected route; if the cross, collision and collision occur, the small group performs line adjustment.
Further, the method for establishing the large group in step S3 is as follows:
(1) When the distance between the small groups is less than 200m, information can be directly exchanged through the inherent system between the vehicles to establish a second communication network;
(2) When the distance between the small groups is 200m to 50km, exchanging information through a single satellite to establish a second communication network;
(3) When the distance between the small groups is far more than 50km, relay transmission information can be carried out through a plurality of satellites so as to establish a second communication network.
Further, the specific way of exchanging information through a single satellite is: after all vehicles in the small group are built, a unified north-oriented hopper system transmits signals, wherein the content of the signals is the overall speed, direction, height, road condition information, running requirements, small group scale and specific size of the small group vehicles; and then the Beidou system transmits information to all the vehicle subgroups within 50km by taking the subgroup as a center, and the subgroup receives information of all other subgroups within 50 km.
Further, when the small group walks to the position where the pedestrians need to cross the traffic flow, the space and time for passing the pedestrians are reserved through the small group gap.
The invention also provides a communication system of the autonomous driving vehicle group, which is applied to the autonomous driving vehicle group control method, and comprises a vehicle-mounted ultrasonic radar, a laser radar, image equipment, a Beidou positioning and GPS positioning system and a control system, wherein the control system is in communication connection with the vehicle-mounted ultrasonic radar, the laser radar, the image equipment and the Beidou positioning and GPS positioning system; different vehicle-mounted ultrasonic radars are arranged on different vehicles, a first communication network is formed among the different vehicle-mounted ultrasonic radars, and a second communication network is formed among the different first communication networks.
Preferably, the control system receives the related information to control the priority order of the related information: the vehicle-mounted super laser radar, the sound wave radar, the image equipment and the Beidou positioning and GPS positioning system.
Compared with the prior art, the invention has the beneficial effects that:
the invention is based on the existing traffic equipment, including road surfaces, intersections, traffic signals, marks and the like, does not need to be repaired and adjusted, adopts the technology of automatic identification of vehicles, combines satellite communication and the like, and has high applicability. The newly built traffic hardware only needs to be designed according to the original traffic, so that the design cost can be reduced.
Drawings
FIG. 1 is a flow chart of an autonomous driving group control method of the present invention;
FIG. 2 is a schematic diagram of a group establishment scheme;
FIG. 3 is a schematic diagram of intra-group communication and the transmission of the front link information to the group when crossing in both directions;
FIG. 4 is a schematic diagram of a communication mode of a small group passing through an intersection part;
FIG. 5 is a schematic illustration of a first method of driving a vehicle left side by side;
FIG. 6 is a schematic diagram of a second method of driving a vehicle left side by side;
FIG. 7 is a schematic illustration of a first method of right-to-vehicle travel;
FIG. 8 is a schematic diagram of a second method of right-to-vehicle travel;
FIG. 9 is a schematic illustration of vehicles passing through a crossroad in a consist;
fig. 10 is a block diagram of a communication system for an autonomous driving group according to the present invention.
The graphic indicia are illustrated as follows:
11. a first minor group; 12. a second population; 13. a third population; 14. a fourth group; 21. A first satellite; 22. a second satellite; 23. the method comprises the steps of carrying out a first treatment on the surface of the L1 is the distance between the first minor group and the second minor group; l2 is the distance between the second minor group and the third minor group; a. b, c, d, g, h, m, n are all vehicles.
Detailed Description
The invention is further described below in connection with the following detailed description. Wherein the drawings are for illustrative purposes only and are shown in schematic, non-physical, and not intended to be limiting of the present patent; for the purpose of better illustrating embodiments of the invention, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the size of the actual product; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
Examples
An embodiment of an autonomous driving group control method according to the present invention is shown in fig. 1, and includes the following steps:
s1: establishing a first communication network among different vehicles to form a small group;
s11: assigning unique identification codes to each vehicle;
s12: each vehicle takes the vehicle as a center and initiates communication connection between the vehicle and surrounding vehicles;
s13: verifying the identification code, and entering a small group if verification is successful; if the verification fails, the small group cannot be entered, and the process returns to step S12.
The invention utilizes the existing vehicle speed sensor, millimeter wave radar, GPS and Beidou positioning, radio station receiving function and vehicle-mounted computer, combines the vehicle radio station transmitting function and antenna system to form local communication and calculation network, and realizes real-time communication of vehicle running information.
S2: the vehicle running information sharing is carried out among the insides of the small groups, and the surrounding vehicle running information is obtained;
the vehicle running information comprises the speed, direction and planned path of surrounding vehicles; the surrounding vehicles are other vehicles with the own vehicle as the center and within a distance of 200 meters. When the same vehicle belongs to different local area networks at the same time, the different local area networks calculate and analyze the information of the vehicle, and when the instructions are contradictory, the running information of the vehicle and the running information of the nearby vehicle are used as the reference. Information priority level: the vehicle running information is more than the nearby vehicle running information is more than the remote local area network information. As shown in fig. 3, vehicle information in and among the small groups is shared.
If the distance between vehicles not in a small group is less than 200m, communication can be carried out between the small groups, so that guarantee is provided for meeting vehicles and running at an intersection.
S21: the vehicle information and the surrounding vehicle information are integrated together and then are calculated and analyzed, and the vehicles in the small group are adjusted, so that the vehicles in the small group can keep constant vehicle distance, vehicle speed and arrangement order for automatic running;
the information among vehicles is calculated and analyzed after being transmitted, and the information comprises the speed, the direction, the future path and the like of surrounding vehicles, and then the information is integrated with the information of the vehicle and is sent to the surrounding vehicles, so that the operation is repeated. The vehicles in the group always perform real-time calculation, all participate in the calculation, and are decentered. The vehicle and surrounding vehicle information communication range is that the nearby vehicle is transmitted from near to far.
The vehicle information source is divided into two parts, one part is own vehicle information, and the own vehicle information is derived from a vehicle-mounted ultrasonic radar, a laser radar, image equipment, a Beidou positioning and GPS positioning system, wherein the part of information comprises a position, a direction, a vehicle speed, an altitude, road conditions and the like, has priority processing weight, and the specific information judging priority sequence is as follows: the vehicle-mounted super laser radar > acoustic radar > image equipment > Beidou positioning and GPS positioning system, so that the emergency can be reflected at the first time. The other part of information from surrounding vehicles and satellites to vehicles, including position, direction, speed, altitude, road condition and the like, is checked and analyzed in the first part.
When the vehicles in the small group all normally run, the formula for determining the constant vehicle speed in the small group is as follows:
wherein, the liquid crystal display device comprises a liquid crystal display device,
for the speed of the vehicle in the small group, < > is>
Speed of the host vehicle>
The relative speed is V, the constant speed in the small group, and the value range of i is +.>
Wherein n is the number of vehicles in the vehicle group;
the vehicle speed v determining method is required to meet the requirements of economy and safety. Speed of the expressway is 200-230 km/h, primary road is 170-200 km/h, secondary road is 140-170 km/h, and tertiary road is used in automatic driving periodThe road is 110-140 km/h, and the lower-grade highway is 80-110 km/h. The road passing efficiency is greatly improved by limiting the speed of the vehicle; the normal running speed is shown as the above, and in the whole automatic driving process, the crossroads pass through the mutually staggered peaks, and the normal running speed is not affected by each other, and the speed is the same as the above. Under the emergency, the speed of the vehicle is regulated according to the actual situation, if acceleration or deceleration is needed, dangerous situation judgment is carried out by calculating an expected route, if acceleration passing is needed to avoid dangerous situations, the vehicle is accelerated, and the acceleration is 1m/s 2 ~2m/s 2 When deceleration is needed for avoiding danger, the deceleration acceleration is 1m/s 2 ~8m/s 2 。
The calculation formula of the vehicle distance is as follows:
wherein L is the distance between vehicles,
the speed of the vehicle is the speed of the vehicle; the vehicle distance is controlled in a segmented mode, when the speed per hour is lower than 30m/s, the distance is kept at 10m, and when the speed is higher than or equal to 30m/s, the vehicle distance is the speed multiplied by 0.2; the speed regulation is divided into local area network internal regulation and local area network integral regulation, and the internal regulation includes acceleration and deceleration, and is mainly aimed at controlling front and rear vehicle distance. The external adjustment is group overall speed adjustment, in order to coordinate overall traffic demand; the main purpose of lane adjustment is that the vehicle needs to act, such as left turn, right turn, side parking and the like, when the vehicle needs to turn left, the vehicle changes lanes leftwards until entering a left turn lane, and the method of turning right and side parking forms of the vehicle is similar; the expected travel route refers to a re-planning of an expected travel route when a passenger's destination changes, an unexpected obstruction occurs in a road, or other conditions.
In the cognitive range of the technicians in the field, the distance between vehicles in the small group can be 5-10 m, and the wind resistance is reduced by utilizing the front vehicle, so that the wind resistance energy consumption of the vehicles is reduced, the vehicle density of the unit area of the highway is improved, and the passing efficiency is improved.
As shown in fig. 4, the first and third groups 11, 13 are arranged in the transverse direction, and the second and fourth groups 12, 14 are arranged in the longitudinal direction, so that the vehicles can pass through the intersection in batches in the transverse direction or the longitudinal direction.
S22: receiving running information of each vehicle in the small group in real time, and intelligently controlling adjustment of vehicle distance, vehicle speed and arrangement sequence of the vehicles in the small group and entering and exiting of the vehicles in the small group;
when vehicles need to enter and exit the small group in the small group or other conditions need to adjust the arrangement sequence of the vehicles in the small group, such as vehicles need to travel left, vehicles need to travel right, lanes narrow, vehicles on the right drive out and overtake, or the vehicles in the small group pass through a crossroad, the following method can be used.
The first method of driving the vehicle on the left is as follows, see fig. 5:
the vehicles on the right lane are sequentially named as d vehicle, a vehicle and e vehicle from front to back, the vehicles on the left lane are sequentially named as c vehicle, b vehicle and f vehicle from front to back, the c vehicle and d vehicle, the b vehicle and a vehicle and the f vehicle and the e vehicle are respectively and adjacently arranged, and the a vehicle needs to travel by left;
1) Accelerating d-vehicles positioned in front of the a-vehicle and on the same lane as the a-vehicle and the d-vehicle; meanwhile, the c-vehicle positioned on the left lane adjacent to the d-vehicle and the vehicle in front of the c-vehicle accelerate to form a dynamic space;
2) a, accelerating the vehicle to move to the original d vehicle position and then translating the vehicle to the left;
3) The rest vehicles complement the position forward.
The second method of driving the vehicle on the left is as follows, see fig. 6:
the vehicles on the right lane are sequentially named as d vehicle, a vehicle and e vehicle from front to back, the vehicles on the left lane are sequentially named as c vehicle, b vehicle and f vehicle from front to back, the c vehicle and d vehicle, the b vehicle and a vehicle and the f vehicle and the e vehicle are respectively and adjacently arranged, and the a vehicle needs to travel by left;
1) By decelerating the b car and the car behind the b car on the left side of the a car;
2) The vehicle a translates to the position of the original vehicle b;
3) The rest vehicles complement the position forward.
The method of right-hand travel of a vehicle is substantially similar to the method of left-hand travel of a vehicle, and the first method of right-hand travel of a vehicle, see fig. 7, is as follows:
the vehicles on the right lane are sequentially named as d vehicle, a vehicle and e vehicle from front to back, the vehicles on the left lane are sequentially named as c vehicle, b vehicle and f vehicle from front to back, the c vehicle and d vehicle, the b vehicle and a vehicle, the f vehicle and the e vehicle are adjacently arranged, and the b vehicle needs to travel right;
1) Accelerating the c-car positioned in front of the b-car and in the same lane as the b-car and the car in front of the c-car; simultaneously accelerating d vehicles positioned on the adjacent right lane of the c vehicle and the front vehicle of the d vehicle to form a dynamic space;
2) a, accelerating the vehicle a to move to the original position of the vehicle c and then translating the vehicle a to the right;
3) The rest vehicles complement the position forward.
The second method for right-to-right travel of the vehicle, see fig. 8, is as follows:
the vehicles on the right lane are sequentially named as d vehicle, a vehicle and e vehicle from front to back, the vehicles on the left lane are sequentially named as c vehicle, b vehicle and f vehicle from front to back, the c vehicle and d vehicle, the b vehicle and a vehicle, the f vehicle and the e vehicle are adjacently arranged, and the b vehicle needs to travel right;
1) By decelerating the a-car and the a-car behind the b-car on the right side;
2) b, translating the vehicle to the position of the original vehicle a;
3) The rest vehicles complement the position forward.
The adjustment method for narrowing the lane is as follows:
1) The vehicles on the right lane are sequentially named as d vehicle, a vehicle and e vehicle from front to back, the vehicles on the left lane are sequentially named as c vehicle, b vehicle and f vehicle from front to back, the c vehicle and d vehicle, the b vehicle and a vehicle, and the f vehicle and the e vehicle are respectively and adjacently arranged, and the lanes are narrowed to enable the left lane and the right lane to be combined into one lane;
2) The distances of a c car, a b car and an f car in a left lane are adjusted, so that a d car positioned on the right side of the c car is inserted between the c car and the b car, an a car positioned on the right side of the b car is inserted between the b car and the f car, and an e car positioned on the right side of the f car is inserted after the f car; or before the d car positioned on the right side of the c car is inserted into the c car, the a car positioned on the right side of the b car is inserted between the c car and the b car, and the e car positioned on the right side of the f car is inserted between the b car and the f car.
The lane overtaking method comprises the following steps: the method comprises the steps of firstly changing the lane of the vehicle a from a right lane to a left lane by a first method of leftward driving of the vehicle, then changing the lane of the vehicle a from the left lane to the right lane by a second method of rightward driving of the vehicle, and then adjusting the driving sequence of the vehicle a, so that overtaking is completed.
As shown in fig. 9, the steps of the vehicles in the small group passing through the crossroad are as follows:
the vehicles waiting to pass through at the two lateral sides of the crossroad are respectively named as g vehicles and h vehicles, and the g vehicles and the h vehicles are respectively positioned on different lanes;
the vehicles waiting to pass at the two longitudinal sides of the crossroad are respectively named as m vehicles and n vehicles, and the m vehicles and the n vehicles are respectively positioned on different lanes;
1) Control the lateral passage, at which time the longitudinal vehicle may make a right turn or wait in place: enabling the g vehicle and the h vehicle to respectively run from the respective lanes to the opposite side of the crossroad;
2) Longitudinal passage is controlled, and the transverse vehicle can turn right or wait in place: driving m vehicles and n vehicles from respective lanes to the opposite side of the crossroad;
3) The pedestrians pass through, and at the moment, the transverse vehicles and the longitudinal vehicles are all located on site to wait.
4) And (3) adjusting the gap and the speed of the small group according to the pedestrian rule and the pedestrian number of signal lamps at the crossing at a certain distance and at a certain time before the crossing, and reserving the passing time and the passing space of the pedestrians.
At the position where pedestrians need to cross with traffic flow, such as intersections, crosswalks and the like, the space and the time for traffic flow are reserved through small group gaps. Specifically, a certain distance and time are reserved before the intersection, small group gaps and speed adjustment are carried out according to the pedestrian rule and pedestrian number of signal lamps at the intersection, and pedestrian passing time and space are reserved. The information of the signal lamp is derived from information sharing of traffic departments, and the accuracy of the information can be ensured by multiple information sources through vehicle vision recognition or intersection camera recognition. When the distance between the vehicle and the intersection is far, the pedestrian information mainly comes from the intersection camera identification and the information exchange of the reverse vehicle passing through the intersection at the previous moment, and when the distance between the vehicle and the intersection is near, the pedestrian information passes through the vehicle vision identification and the intersection camera. Pedestrian traffic is mainly based on traffic signal lamps, special conditions occur in the traffic process, the special conditions are visually identified through intersection cameras and vehicles, then special condition information is transmitted to surrounding vehicle small groups, and the running state of the vehicles is adjusted in real time until the vehicles pass or stop.
The calculation formula of the total time for the pedestrian to pass through the road is as follows:
t=t1+t2+t3，
wherein t is the total time of the pedestrian passing through the road, t1 is the preparation start time, t2 is the passing time, and t3 is the preparation end time. In the pedestrian passing process, the vehicle-mounted laser radar and the vision system are responsible for detecting the pedestrian passing state, and if the judgment is carried out, the t2 is prolonged, and the crossed small group vehicles make a deceleration or parking response. If the time t2 is shortened, the crossed small group vehicle makes acceleration response.
S3: establishing a second communication network among different small groups to form a large group;
the establishment of the large group is concretely divided into three modes, and the method is concretely as follows:
(1) When the distance between the small groups is less than 200m, information can be directly exchanged through the inherent system between the vehicles to establish a second communication network; as shown in fig. 2, when the distance L1 between the first small group 11 and the second small group 12 is smaller than 200m, establishing a second communication network by exchanging information through the inherent system between the vehicles in the first small group 11 and the second small group 12;
(2) When the distance between the small groups is 200m to 50km, exchanging information through a single satellite to establish a second communication network; as shown in fig. 2, when the distance L1 between the first group 11 and the second group 12 is 200m to 50km, a second communication network is established through the first satellite 21;
the specific way of exchanging information through a single satellite is as follows: after all vehicles in the small group are built, a unified north-oriented hopper system transmits signals, wherein the content of the signals is the overall speed, direction, height, road condition information, running requirements, small group scale and specific size of the small group vehicles; and then the Beidou system transmits information to all the vehicle subgroups within 50km by taking the subgroup as a center, and the subgroup receives information of all other subgroups within 50 km.
(3) When the distance between the small groups is far more than 50km, relay transmission information can be carried out through a plurality of satellites so as to establish a second communication network. As shown in fig. 2, when the distance L2 between the second group and the third group is greater than 50km, the second communication network can be established by performing relay transmission through a plurality of satellites such as the first satellite 21 and the second satellite 22. The schematic diagram in fig. 2 is for illustration, and the actual requirement is supplemented with bidirectional traffic, while the number of small groups of vehicles is schematic number and does not represent the actual requirement.
S4: carrying out operation information sharing of different small groups in the large group to obtain small group operation information;
summarizing and integrating different group operation information, then carrying out operation and analysis, and adjusting among the groups to ensure that the groups keep constant group spacing, group moving speed and group order operation;
the adjustment principle among the small groups is as follows:
1) Safety: firstly, ensuring the life safety of personnel;
2) Legal: traffic signals and rules are not violated;
3) High efficiency: and (3) adjusting the speed and the like according to the driving requirements of the small group, and if the vehicle group needs to be operated quickly, the speed is increased preferentially, and the vehicle group with sufficient time is slowed down.
The priority of the safety principle is higher than that of the legal principle, and the priority of the legal principle is higher than that of the high-efficiency principle.
All the vehicle subgroups carry out corresponding maneuvering to finish the information exchange process. If the small group distance is relatively close, the communication can be directly carried out, and satellite communication can be carried out at the same time, so that the information reliability is improved.
The specific steps of calculating and analyzing the different group operation information are as follows:
s41: receiving group operation information: including overall vehicle speed, direction, altitude, traffic information, driving demand, minor group size and specific dimensions.
S42: calculating expected operation routes of all the small groups according to the received information;
s43: and (3) judging: and judging the driving influence range of each minor group according to the expected running route and the size of each minor group, judging whether the safety distance between the minor groups is crossed and collided when running on the expected route, and judging whether the expected route collides with traffic signals.
S44: decision making: after the judgment is completed, if the cross, collision, conflict and the like do not occur, all vehicles run according to the expected route; if the cross, collision and collision occur, the small group performs line adjustment.
The group spacing is calculated as follows:
S=v*t，
wherein S is group spacing, v is group moving speed, and t is total time for pedestrians to pass through the road.
S8: and (5) dividing the running traffic into small groups and large groups for management.
And receiving the operation information of each small group in the large group in real time, and intelligently controlling the vehicles to enter and exit the large group to complete the whole intelligent allocation.
The distance, sequence, inner and outer sides and the like of the small groups in the large group can be adjusted in real time, so that the small groups in the large group can conveniently enter and exit the large group; the small group and the large group are unbounded, and dynamic combination and splitting are carried out through system judgment based on the destination and the demand of the internal vehicles, so that a vehicle linkage process is formed; after the vehicles enter a small group, the vehicles can automatically drive, after the vehicles exit the group, manual driving can be performed, and the vehicles can realize that two driving modes are switched under a certain running state, such as special conditions suitable for manual driving, including emergency conditions when the vehicle speed is low, and the like.
Further, the priority order of the communications is as follows: vehicle interior manipulation > minor group interior signals > major group interior signals; this is done to ensure that in an emergency situation, the personnel in the vehicle have the highest control authority; the communication frequency inside the small group is not lower than 100Hz, so that the response time of vehicles inside the small group is ensured to be lower than 10ms in emergency; the communication frequency between the large groups is not lower than 50Hz, so that the corresponding time between the large groups is lower than 20ms in emergency. The communication among the large groups of vehicles is carried out in real time by means of the Beidou system, all vehicles participate in information processing, and are decentralized, so that the influence of faults of a central server on a traffic system is avoided;
the invention divides the running traffic into small groups and large groups for management: the small groups are used for reserving spaces among the small groups, so that people can conveniently avoid the small groups without stopping when the people need to pass through the road. If the sudden situation occurs on the road surface, and the traffic is impossible, the related vehicles are changed from the small group to the large group to bypass the original route.
As shown in fig. 10, the invention further provides a communication system of the autonomous driving vehicle group, which is applied to the autonomous driving vehicle group control method and comprises a vehicle-mounted ultrasonic radar, a laser radar, image equipment, a Beidou positioning and GPS positioning system and a control system, wherein the control system is in communication connection with the vehicle-mounted ultrasonic radar, the laser radar, the image equipment, the Beidou positioning and GPS positioning system, and the vehicle-mounted ultrasonic radar is in communication connection with the laser radar, the image equipment, the Beidou positioning and GPS positioning system; different vehicle-mounted ultrasonic radars are arranged on different vehicles, a first communication network is formed among the different vehicle-mounted ultrasonic radars, and a second communication network is formed among the different first communication networks.
The method comprises the steps of forming a local communication and calculation network by utilizing the existing vehicle speed sensor, millimeter wave radar, GPS and Beidou positioning, radio station receiving function and vehicle-mounted computer and combining a vehicle radio station transmitting function and an antenna system, realizing real-time communication of vehicle operation information, carrying out real-time transmission and exchange on information including position, direction, vehicle speed, altitude, road condition and the like, and carrying out information sharing and exchange with surrounding vehicles; the method specifically comprises the steps of integrating the information of the surrounding vehicles, such as the speed, the direction and the future path of the surrounding vehicles, sending the information and the information of the vehicle to the surrounding vehicles, and simultaneously transmitting the information to a control system.
As one embodiment of the present invention, the control system receives the related information and controls the priority order of the related information: the vehicle-mounted super laser radar, the sound wave radar, the image equipment and the Beidou positioning and GPS positioning system.
The different information is divided into the priority, so that the emergency can be reflected in the first time, the control system can timely adjust the running of the vehicle according to the emergency, and traffic accidents are avoided.
It is to be understood that the above examples of the present invention are provided by way of illustration only and not by way of limitation of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (6)
1. An autonomous driving group control method, comprising the steps of:
s1: establishing a first communication network among different vehicles to form a small group;
s2: the vehicle running information sharing is carried out among the insides of the small groups, and the surrounding vehicle running information is obtained;
(1) Group internal management: receiving running information of each vehicle in the small group in real time, and intelligently controlling adjustment of vehicle distance, vehicle speed and arrangement sequence of the vehicles in the small group and entering and exiting of the vehicles in the small group;
s21: the vehicle information and the surrounding vehicle information are integrated together and then are calculated and analyzed, and the vehicles in the small group are adjusted, so that the vehicles in the small group can keep constant vehicle distance, vehicle speed and arrangement order for automatic running;
s22: receiving running information of each vehicle in the small group in real time, and intelligently controlling adjustment of vehicle distance, vehicle speed and arrangement sequence of the vehicles in the small group and entering and exiting of the vehicles in the small group;
(2) Inter-group management: adjusting the small groups to keep constant group spacing, group moving speed and group order operation;
s3: establishing a second communication network among different small groups to form a large group;
s4: carrying out operation information sharing of different small groups in the large group to obtain small group operation information;
s5: dividing the running traffic into small groups and large groups for management;
the crossroad traffic strategy is as follows:
(1) The vehicles of the small group pass through the crossroad and can pass through the crossroad in batches transversely or longitudinally;
(2) Vehicles in the small group pass through the crossroad:
(1) controlling the transverse passing, wherein the longitudinal vehicle can turn right or wait in situ;
(2) controlling longitudinal passing, wherein the transverse vehicle can turn right or wait in situ;
(3) the pedestrians pass through, and at the moment, the transverse vehicles and the longitudinal vehicles are all located on the spot to wait;
(4) before passing through the intersection, a certain distance and time are reserved, small group gaps and speed adjustment are carried out according to the pedestrian rule and pedestrian number of signal lamps at the intersection, and pedestrian passing time and space are reserved;
at the position where pedestrians need to cross traffic, reserving through small group gaps, reserving traffic space and time, and calculating the total time of the pedestrians passing through the road as follows:
t=t1+t2+t3，
wherein t is the total time of the pedestrian passing through the road, t1 is the preparation start time, t2 is the passing time, and t3 is the preparation end time;
the calculation formula of the group spacing in step S22 is as follows:
S=v*t，
wherein S is group spacing, v is group moving speed, and t is total time for pedestrians to pass through the road.
2. The autonomous driving group control method of claim 1, wherein managing the large group comprises receiving operation information of each small group in the large group in real time, and calculating and analyzing the operation information of each small group, and intelligently controlling vehicles to enter and exit the large group, so as to complete the whole intelligent allocation.
3. The autonomous driving group control method according to claim 1 or 2, wherein the priority order of the communication is as follows: vehicle interior manipulation > minor group interior signal > major group interior signal.
4. The autonomous driving group control method according to claim 3, wherein the step S1 includes the steps of:
s11: assigning unique identification codes to each vehicle;
s12: each vehicle takes the vehicle as a center and initiates communication connection between the vehicle and surrounding vehicles;
s13: verifying the identification code, and entering a small group if verification is successful; if the verification fails, the small group cannot be entered, and the process returns to step S12.
5. The autonomous driving group control method according to claim 4, wherein the vehicles in the small group maintain a certain vehicle distance during traveling, and a calculation formula of the vehicle distance is as follows:
wherein L is the distance between vehicles,
the speed of the vehicle.
6. The autonomous driving group control method according to claim 1, wherein the calculating and analyzing the different group operation information comprises the specific steps of:
s41: receiving group operation information: the method comprises the steps of overall speed, direction, height, road condition information, driving requirement, small group scale and specific size;
s42: calculating expected operation routes of all the small groups according to the received information;
s43: and (3) judging: judging the driving influence range of each minor group according to the expected running route and the size of each minor group, judging whether the safety distance between the minor groups is crossed and collided when running on the expected route, and judging whether the expected route conflicts with traffic signals;
s44: decision making: after the judgment is completed, if the cross, collision and conflict do not occur, all vehicles run according to the expected route; if the above-mentioned cross, collision and conflict occur, the small group makes line regulation.
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