CN114384898A - Queue driving decision system and method - Google Patents
Queue driving decision system and method Download PDFInfo
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Abstract
A queue driving decision system and method, apply to a fleet, the system includes a back car controlling device and a front car controlling device, when the back car controlling device detects a queue-inserting event, output a back car deceleration order to the back car in order to control the deceleration of the back car, and the wireless transmission is a queue-inserting notice and a back car deceleration notice; when the rear vehicle control device is connected with the front vehicle control device, the front vehicle control device receives the queue-inserting notification and the rear vehicle deceleration notification from the rear vehicle control device, outputs a front vehicle acceleration instruction to the front vehicle according to the queue-inserting notification to control the front vehicle to accelerate, and wirelessly transmits a front vehicle acceleration notification to the rear vehicle control device; when the rear vehicle control device detects that the queue-inserting event is eliminated, the rear vehicle control device respectively controls the rear vehicle to accelerate and the front vehicle to decelerate so as to maintain the fleet queue.
Description
Technical Field
The present invention relates to an automatic driving decision system and method, and more particularly to a queue driving decision system and method.
Background
An automated vehicle fleet generally includes a plurality of vehicles, each of which has an automatic driving assistance function or an automatic driving function, for example, a front vehicle and a rear vehicle adjacent to each other in front and rear directions, the rear vehicle follows a following condition behind the front vehicle, the following condition may be a comparison between a following vehicle speed and a following distance, and the following distance is longer when the following vehicle speed is faster.
However, in addition to the fleet, there are other man-made external vehicles on the actual road, there is a gap between the front vehicle and the rear vehicle, and considering the behavior that there is a driver on the road to drill and overtake, when an external vehicle that is not a fleet is inserted between the front vehicle and the rear vehicle, resulting in the rear vehicle being too close to the external vehicle, the front vehicle is also too close to the external vehicle, and the external vehicle is not kept at a safe distance from the front vehicle and the rear vehicle of the fleet, thereby increasing the risk of traffic accidents of the fleet.
Disclosure of Invention
Accordingly, the present invention is directed to a queue driving decision system and method for dealing with the situation that a fleet of vehicles is cut into by other vehicles.
The present invention provides a queue driving decision system for a fleet of vehicles, the fleet of vehicles including a rear vehicle and a front vehicle, the queue driving decision system comprising:
the rear vehicle control device is arranged on the rear vehicle to control the rear vehicle to follow the front vehicle, when the rear vehicle control device detects a queue-inserting event, a rear vehicle deceleration command is output to the rear vehicle to control the rear vehicle to decelerate, and a queue-inserting notice and a rear vehicle deceleration notice are wirelessly transmitted;
the front vehicle control device is arranged on the front vehicle, receives the queue-inserting notification and the rear vehicle deceleration notification transmitted by the rear vehicle control device when the rear vehicle control device is connected with the front vehicle control device, outputs a front vehicle acceleration instruction to the front vehicle according to the queue-inserting notification to control the front vehicle to accelerate, and wirelessly transmits a front vehicle acceleration notification to the rear vehicle control device;
when the rear vehicle control device detects that the queue-inserting event is eliminated, outputting a rear vehicle acceleration command to the rear vehicle to control the rear vehicle to accelerate, and wirelessly transmitting a queue-inserting elimination notice and a rear vehicle acceleration notice to the front vehicle control device; the front vehicle control device outputs a front vehicle deceleration instruction to the front vehicle according to the queue-insertion exclusion notification to control the front vehicle to decelerate, and wirelessly transmits a front vehicle deceleration notification to the rear vehicle control device.
The queue driving decision method comprises the following steps:
controlling a rear vehicle to follow a vehicle following condition to follow the rear of a front vehicle through a rear vehicle control device;
the rear vehicle control device detects whether a queue-inserting event exists or not, if yes, the rear vehicle control device outputs a rear vehicle deceleration instruction to the rear vehicle to control the rear vehicle to decelerate, and wirelessly transmits a queue-inserting notice and a rear vehicle deceleration notice;
when the rear vehicle control device is connected with a front vehicle control device arranged on the front vehicle, the front vehicle control device receives the queue-inserting notification and the rear vehicle deceleration notification, outputs a front vehicle acceleration instruction to the front vehicle according to the queue-inserting notification to control the front vehicle to accelerate, and wirelessly transmits a front vehicle acceleration notification to the rear vehicle control device;
the rear vehicle control device detects whether the queue-inserting event is eliminated, if so, the rear vehicle control device outputs a rear vehicle acceleration instruction to the rear vehicle to control the rear vehicle to accelerate, and wirelessly transmits a queue-inserting elimination notice and a rear vehicle acceleration notice to the front vehicle control device;
when the rear vehicle control device is connected with the front vehicle control device, the front vehicle control device outputs a front vehicle deceleration instruction to the front vehicle according to the queue-insertion exclusion notice to control the front vehicle to decelerate, and wirelessly transmits a front vehicle deceleration notice to the rear vehicle control device.
According to the queue driving decision system and method, when the rear vehicle control device detects the queue-inserting event, the queue-inserting event represents that an outer vehicle queue is probably merged between a front vehicle and a rear vehicle, so that the rear vehicle control device controls the rear vehicle to decelerate according to the detection of the queue-inserting event; in addition, for the front vehicle, under the permission of road conditions, for example, under the condition that a front lane of the front vehicle is unblocked, the front vehicle control device controls the front vehicle to accelerate, so that the distance between the front vehicle and the rear vehicle is appropriately pulled, the outer vehicle can be inserted between the rear vehicle and the front vehicle, the rear vehicle is prevented from overtaking the outer vehicle, and the outer vehicle is also prevented from overtaking the front vehicle. When the outer vehicle drives away, the fleet is recovered to drive stably by means of the deceleration of the front vehicle and the acceleration of the rear vehicle. In conclusion, the invention can effectively cope with the situation that the motorcade is inserted by the other motorcade. The detailed description of the embodiments of the present invention follows.
Drawings
FIG. 1: in an embodiment of the present invention, the schematic diagram is applied to a fleet including a rear vehicle and a front vehicle.
FIG. 2: a block schematic diagram of an embodiment of a fleet driving decision system of the present invention.
FIG. 3: in the invention, the rear vehicle control device is electrically connected with each system of the rear vehicle.
FIG. 4: the invention relates to a flow chart for calculating the estimated distance between workshops.
FIG. 5: a flow chart of an embodiment of a queue driving decision method of the present invention.
FIG. 6A: there is a schematic illustration of the insertion of the outside vehicle into the fleet.
FIG. 6B: there is a schematic illustration of the insertion of the outside vehicle into the fleet.
FIG. 7A: in the invention, the information circulation time sequence of the rear vehicle control device, the front vehicle control device and the background host computer is shown (the rear vehicle control device is connected with the front vehicle control device).
FIG. 7B: in the invention, the information circulation time sequence of the rear vehicle control device, the front vehicle control device and the background host computer is shown schematically (the rear vehicle control device and the front vehicle control device are disconnected).
FIG. 8: in the invention, the block schematic diagram of the electrical connection of the front vehicle control device and each system of the front vehicle is shown.
FIG. 9: schematic illustration of an outside vehicle driving off a fleet of vehicles.
FIG. 10: in the invention, the rear vehicle control device implements the flow schematic diagram of applying/decelerating according to the estimated distance between the vehicles.
FIG. 11: in the present invention, the data format of the preceding vehicle information packet is schematically shown.
FIG. 12: in the invention, the information synchronization mechanism of the rear vehicle control device, the front vehicle control device and the background host is shown in the schematic diagram.
Detailed Description
The present invention provides a queue driving decision system for a fleet, which generally includes a plurality of vehicles, each of which has an automatic assistant driving function or an automatic driving function, and referring to fig. 1, the fleet includes at least a front vehicle a and a rear vehicle B, it should be noted that the front vehicle a and the rear vehicle B described in the present invention refer to two vehicles adjacent to each other in front and rear, the rear vehicle B follows behind the front vehicle a, the front vehicle a can be (but is not limited to) a first vehicle of the fleet, and the rear vehicle B can be (but is not limited to) a last vehicle of the fleet. In addition, the front vehicle a and the rear vehicle B are not limited to gasoline-electric hybrid vehicles, electric vehicles, or gasoline vehicles using a gasoline engine or a diesel engine.
Referring to fig. 1 and 2, the embodiment of the queued driving decision system of the present invention includes a rear vehicle control device 10 and a front vehicle control device 20, or further includes a background host 30. The following description will be given only by taking the rear vehicle B as an example, and the front vehicle a may be analogized to each other. Referring to fig. 1 and 3, the rear vehicle B generally includes a rear accelerator system 41, a rear brake system 42 and a rear direction system 43, the rear accelerator system 41 is used for controlling acceleration and deceleration of the rear vehicle B, the rear brake system 42 is used for controlling braking of the rear vehicle B, the rear direction system 43 is used for controlling straight movement or steering angle of the rear vehicle B, and the rear accelerator system 41, the rear brake system 42 and the rear direction system 43 cooperate to achieve the function of automatic assistant driving or automatic driving of the rear vehicle B. The rear vehicle control device 10 of the present invention is connected to the rear vehicle accelerator system 41, the rear vehicle brake system 42 and the rear vehicle direction system 43 by signals to take charge of the cooperative operation thereof, so that the rear vehicle B can stably run and follow a following condition to follow the rear of the front vehicle a.
The connection structure, information acquisition, estimated vehicle-to-vehicle distance, estimated vehicle-to-vehicle coordinates, queue-insertion decision means, and information synchronization mechanism of the rear vehicle control device 10 and the front vehicle control device 20 (or the background host 30) are respectively described in detail below.
Connection structure and information acquisition
The rear vehicle Control device 10 may be an Electronic Control Unit (ECU) or a traveling computer, and may perform information operation and following decision Control functions, and the rear vehicle Control device 10 is disposed on the rear vehicle B and is in signal connection with a rear vehicle communication device 11, a rear vehicle sensing device 12 and a rear vehicle information device 13 disposed on the rear vehicle B.
The rear Vehicle communication device 11 may include a rear Vehicle-to-Vehicle communication module 110 or further include a rear Vehicle mobility communication module 111, the rear Vehicle-to-Vehicle communication module 110 may implement Vehicle-to-Vehicle communication (V2V), the rear Vehicle-to-Vehicle communication module 110 may be, but is not limited to, a Dedicated Short Range Communication (DSRC) or a next generation mobility communication technology operating in a fourth generation mobility communication technology (4G), a fifth generation mobility communication technology (5G) or more, the rear Vehicle mobility communication module 111 implements Vehicle-to-next generation communication (V2X), and the rear Vehicle mobility communication module 111 may operate in the fourth generation mobility communication technology (4G), the fifth generation mobility communication technology (5G) or more. The rear vehicle sensing device 12 is configured to sense ambient information of the rear vehicle B and a position of the rear vehicle B, for example, referring to fig. 2, the rear vehicle sensing device 12 outputs rear vehicle sensing information D _ rs, where the rear vehicle sensing information D _ rs may include a rear vehicle positioning coordinate, a front vehicle width, and a first relative distance, where the first relative distance is a relative distance sensing value between the rear vehicle B and a front object of the rear vehicle B when the position of the rear vehicle B is taken as a starting point, so that under a normal vehicle following condition, the front object of the rear vehicle B is the front vehicle a, and the first relative distance is a relative distance sensing value between the rear vehicle B and the front vehicle a. The rear vehicle information device 13 CAN be, for example, a diagnostic system (e.g., On-Board Diagnostics, OBD), a data Bus (e.g., controller area network Bus, CAN Bus) or an instrumentation system of the rear vehicle B itself. Therefore, the rear vehicle control device 10 of the present invention can retrieve a rear vehicle information D _ rv of the rear vehicle B from the rear vehicle information device 13, wherein the rear vehicle information D _ rv may include, for example, a rear vehicle acceleration/deceleration, a rear vehicle speed, a rear vehicle steering angle …, and the like.
The front vehicle control device 20 can be analogized from the rear vehicle control device 10, in short, the front vehicle control device 20 is disposed on the front vehicle a and is in signal connection with a front vehicle communication device 21, a front vehicle sensing device 22 and a front vehicle information device 23 disposed on the front vehicle a. The front vehicle communication device 21 may include a front vehicle-to-vehicle communication module 210 or further include a front vehicle operation communication module 211, the front vehicle sensing device 22 outputs a front vehicle sensing information D _ fs, the front vehicle sensing information D _ fs includes a front vehicle positioning coordinate and a second relative distance, the second relative distance is a relative distance sensing value between the front vehicle a and a rear object of the front vehicle a when the position of the front vehicle a is taken as a starting point, so that under a normal vehicle following condition, the rear object of the front vehicle a is the rear vehicle B, and the second relative distance is a relative distance sensing value between the front vehicle a and the rear vehicle B. The preceding vehicle control device 20 can retrieve a preceding vehicle information D _ fv of the preceding vehicle a from the preceding vehicle information device 23, wherein the preceding vehicle information D _ fv includes, for example, a preceding vehicle acceleration/deceleration, a preceding vehicle speed, and a preceding vehicle steering amount ….
In the foregoing, each of the rear vehicle sensing device 12 And the front vehicle sensing device 22 may include a satellite positioning system, a Three-Dimensional optical radar (3D LiDAR), a two-Dimensional optical radar (2D LiDAR), a camera, a Real-Time Kinematic (RTK) module, And an Inertial Measurement Unit (IMU), but not limited thereto, so that the rear vehicle sensing device 12 may generate the rear vehicle sensing information D _ rs, And the rear vehicle sensing device 12 may generate the front vehicle sensing information D _ fs.
When the rear inter-vehicle communication module 110 is connected to the front inter-vehicle communication module 210, the rear vehicle control device 10 can be connected to the front vehicle control device 20 for bidirectional information communication, referring to fig. 2, the front vehicle control device 20 can periodically transmit a front vehicle information packet P _ f to the rear vehicle control device 10, the transmission period of the front vehicle information packet P _ f can be, for example, 100 milliseconds (ms), the content of the front vehicle information packet P _ f can be derived from the front vehicle sensing information D _ fs and the front vehicle information D _ fv, for example, the front vehicle information packet P _ f can include (but is not limited to) the front vehicle positioning coordinate, the front vehicle speed, the front vehicle steering amount, and the second relative distance. Thus, the rear vehicle control device 10 can obtain the driving information of the front vehicle a as the basis for the following decision.
As for the background host 30, the background host 30 can be a cloud server, which connects the rear vehicle control device 10 and the front vehicle control device 20, for example, when the rear vehicle mobile communication module 111 establishes a connection with the background host 30 (for example, through the internet), the rear vehicle control device 10 can perform two-way information communication with the background host 30 through the rear vehicle mobile communication module 111; similarly, when the forward mobile communication module 211 establishes a connection with the background host 30 (e.g. through the internet), the forward control device 20 can perform two-way information communication with the background host 30 through the forward mobile communication module 211.
As described above, in the embodiment of the present invention, the back host 30 is connected to the rear vehicle control device 10 and the front vehicle control device 20, and the rear vehicle control device 10 is connected to the front vehicle control device 20, so that the information transmission manner of the present invention is parallel, that is, when the rear vehicle control device 10 and the front vehicle control device 20 exchange information with each other, the information can be transmitted to the back host 30 at the same time. In the embodiment of the present invention, the rear vehicle control device 10 and the front vehicle control device 20 may use vehicle-to-vehicle communication as a main communication mode; when the vehicle-to-vehicle communication is disconnected, the rear vehicle control device 10 and the front vehicle control device 20 can still transmit information to each other through the background host 30, that is, the background host 30 is used as a medium for information transmission.
(II) estimating the distance between the vehicles
Generally, referring to fig. 1 and 3, the rear vehicle control device 10 controls the rear vehicle B to follow the front vehicle a according to a following condition 100, the following condition 100 of the rear vehicle control device 10 can be set as a predetermined comparison information of a following vehicle speed and a following vehicle distance, the relationship between the following vehicle speed and the following vehicle distance is positive correlation (positive correlation), when the following vehicle speed is faster, the following vehicle distance is longer, and vice versa, when the following vehicle speed is slower, the following vehicle distance is shorter. The following vehicle control device 10 defines the following distance corresponding to the following vehicle condition 100 according to the current following vehicle speed (i.e. the following vehicle speed), and compares a vehicle-to-vehicle estimated distance (i.e. the relative distance between the following vehicle B and the front vehicle a, which is described as the following) with the following distance of the following vehicle condition 100 to properly adjust the following vehicle throttle system 41 and the following vehicle braking system 42 (or further adjust the following vehicle direction system 43) so that the vehicle-to-vehicle estimated distance matches the corresponding following distance in the following vehicle condition 100 when the following vehicle B is at a certain vehicle speed. For example, when the estimated inter-vehicle distance is greater than the following distance of the following condition 100, which represents that the distance between the following vehicle B and the preceding vehicle a is too long, the following vehicle control device 10 may adjust the following vehicle throttle system 41 to accelerate the following vehicle B, thereby reducing the difference between the estimated inter-vehicle distance and the following distance of the following condition 100.
In the course of traveling of the fleet, since the front vehicle a and the rear vehicle B are traveling, and the information transmission between the rear vehicle control device 10 and the front vehicle control device 20 and the information calculation of the rear vehicle control device 10 also take time to complete, in order to avoid the rear vehicle control device 10 to make the following decision only based on the earlier information, in the embodiment of the present invention, the rear vehicle control device 10 further performs the inter-vehicle estimation distance (D)RF) Is calculated by estimating the distance (D) from the vehicleRF) Indicating the relative distance between the rear vehicle B and the front vehicle a, as detailed below.
The rear vehicle control device 10 is preset with a time interval value Δ t _ seg, an allowable error range Δ E, and a first weight value W according to the operation of the user1A second weight value W2And a third weighted value W3The relationship between the vehicle speed and the allowable error range Δ E is negative correlation (negative correlation), i.e., the more the vehicle speed is, the narrower the allowable error range Δ E is, ensuring that the distance error is smaller at the faster vehicle speed. The tolerance range Δ E is calculated according to a reference distance value U (meter) and a percentage value V (%), the minimum value of the tolerance range Δ E is U-U × V%, the maximum value of the tolerance range Δ E is U + U × V%, and the reference distance value U and the percentage value V are also preset values.
As described above, the rear vehicle control device 10 obtains the first relative distance (defined as D _ x herein) from the rear vehicle sensing information D _ rs, where the first relative distance D _ x is a relative distance sensing value between the rear vehicle B and the front vehicle a when the position of the rear vehicle B is taken as a starting point; the rear vehicle control device 10 obtains the second relative distance (defined as D _ y herein) from the front vehicle information packet P _ f,the second relative distance D _ y is when the position of the front vehicle A is taken as a starting point; the rear vehicle control device 10 can calculate an estimated moving distance D from the relative distance sensing value between the front vehicle A and the rear vehicle Bp。W1、W2And W3Are weighted values less than 1, respectively, and W1+W2+W3Less than or equal to 1. The time interval value Δ t _ seg reflects the time elapsed from the front vehicle control device 20 to the rear vehicle control device 10 or further includes a delay time, for example, Δ t _ seg may be set to 100-200 (ms), and the estimated moving distance DpCan be represented as DpWhere S is the rear vehicle speed in the rear vehicle own vehicle information D _ rv received by the rear vehicle control device 10. The rear vehicle control device 10 determines the first relative distance D _ x, the second relative distance D _ y and the estimated moving distance DpCooperate with the weighted value W1、W2、W3Calculating the estimated distance D between the vehiclesRF。
The following description is based on the premise that the communication between the rear vehicle control device 10 and the front vehicle control device 20 is normal, and the rear vehicle sensing device 12 operates normally. Referring to fig. 4, first, the rear vehicle control device 10 determines | D _ x-DpIf | exceeds the allowable error range Δ E (step S01).
In step S01, when the judgment is YES, | D _ x-Dp| beyond the allowable error range Δ E, it represents the first relative distance D _ x and the estimated moving distance DpSince the error between the absolute values is large, the rear vehicle control device 10 further determines whether | D _ x-D _ y | exceeds the allowable error range Δ E (step S02). In step S02, if yes, D _ x-D _ y is out of the allowable error range Δ E, which means that the error between the first relative distance D _ x and the second relative distance D _ y is large, and the estimated inter-vehicle distance D calculated by the rear vehicle control device 10 is largerRFEstimating a distance D for a first compartmentRF1(ii) a On the other hand, if the determination is "no" in step S02, if | D _ x-D _ y | falls within the allowable error range Δ E, which represents that the error between the first relative distance D _ x and the second relative distance D _ y is small, the following vehicle control device 10 calculatesThe estimated distance D between the vehiclesRFEstimating distance D for a second vehicleRF2。
In step S01, when the judgment is "NO", (D _ x-D)pI falls within the allowable error range Δ E and represents the first relative distance D _ x and the estimated moving distance DpSince the error therebetween is small, the rear vehicle control device 10 further determines whether | D _ x-D _ y | exceeds the allowable error range Δ E (step S03). In step S03, if the determination is yes, i D _ x-D _ y is out of the allowable error range Δ E, and the estimated inter-vehicle distance D calculated by the rear vehicle control device 10 is calculatedRFEstimating distance D for a third vehicleRF3(ii) a On the other hand, when the determination is "no" in step S03, if | D _ x-D _ y | falls within the allowable error range Δ E, the vehicle-to-vehicle estimated distance D calculated by the rear vehicle control device 10 is calculatedRFEstimating a distance D for a fourth vehicleRF4。
For example, the first inter-vehicle estimated distance DRF1Can be expressed as follows:
DRF1＝W1×D_x+W2×D_y+W3×Dpthus, it can be seen that D _ x, D _ y and DpAre proportionally assigned according to the weight, if the user presets D _ x as the most priority, D _ y times, DpFinally, the proportional relationship can be set as W1>W2>W3(ii) a For example, suppose W1+W2+W3In one embodiment, W is 11Can be set to 0.5, W2Can be set to 0.33, W3Can be set to 0.17, and so on, in other words, D _ x occupies DRF150% of D, D _ y represents DRF133% of (D)pAccount for DRF117% of the total.
For example, the second inter-vehicle estimated distance DRF2Can be expressed as follows:
DRF2＝W1×Da+W2×Db+W3x Dc, wherein W3＜W1And W is3＜W2. Thus, when the rear vehicle control device 10 determines DRF＝DRF2Then, the rear vehicle control device 10 determines D _ x, D _ y, and DpThree componentsAmong them, two of them are closest as Da and Db, the third is Dc, the rear vehicle control device 10 sets the weight values W of Da and Db1、W2Adjusted to be higher, and weight value W of Dc3The adjustment is low. For example, when the difference between D _ x and D _ y is smaller than D _ x and DpA difference between D _ x and DpThe difference between D _ y and D is less thanpThe difference between D _ x and D _ y is the closest, and is respectively Da and Db, DpAs Dc.
For example, the third inter-vehicle estimated distance DRF3Can be expressed as follows:
DRF3＝W1×D_x+W2×D_y+W3×Dpwherein W is2＜W1And W is2＜W3That is, when the rear vehicle control device 10 judges DRF＝DRF3Then, the rear vehicle control device 10 adjusts the weight value of the second relative distance D _ y to be low.
For example, the fourth inter-vehicle estimated distance DRF4Can be expressed as follows:
DRF4＝(W1×D_x+W2×D_y+W3×Dp)/(W1+W2+W3) That is, when the rear vehicle control device 10 judges DRF＝DRF4Then, the rear vehicle control device 10 pairs D _ x, D _ y and DpAnd carrying out weight average operation.
(III) queue-jumping decision-making means
Referring to fig. 1, since the rear vehicle B has a vehicle distance with the front vehicle a, it is practically difficult to avoid that other non-queued vehicles change lanes and merge from the other lanes into the space between the rear vehicle B and the front vehicle a. Thus, referring to fig. 3, 5 and 6A, the decision means implemented by the rear vehicle control device 10 includes determining whether there is an intervening event (step S11), which is an event that another vehicle (i.e., a non-queue vehicle, hereinafter referred to as an external vehicle C) other than the front vehicle a is inserted between the rear vehicle B and the front vehicle a.
Regarding the manner of determining the queue-inserting event according to the present invention, taking the rear vehicle control device 10 as an example, as mentioned above, the rear vehicle control device 10 obtains the first relative distance from the rear vehicle sensing information D _ rs, where the first relative distance is a relative distance sensing value between the rear vehicle B and a front object of the rear vehicle B when the position of the rear vehicle B is taken as a starting point; the rear vehicle control device 10 obtains the second relative distance from the front vehicle information packet P _ f, where the second relative distance is a relative distance sensing value between the front vehicle a and an object behind the front vehicle a when the position of the front vehicle a is taken as a starting point.
The rear vehicle control device 10 determines whether a variation amount of the first relative distance in a unit time is greater than or equal to a first threshold value, and determines whether a variation amount of the second relative distance in the unit time is greater than or equal to a second threshold value, wherein the first threshold value and the second threshold value may be the same as or different from each other. For example, in a case where the rear vehicle B normally follows the front vehicle a, the first relative distance and the second relative distance are stable, so that a variation amount of the first relative distance per unit time is smaller than the first threshold value, and a variation amount of the second relative distance per unit time is smaller than the second threshold value; in other words, in the case where the rear vehicle B normally follows the front vehicle a, the first relative distance and the second relative distance correspond to or are similar to the distance d1 shown in fig. 6B. It should be noted that the first threshold and the second threshold are set to have a magnitude related to the speed of the rear vehicle B and the front vehicle a, and the faster the speed of the rear vehicle B and the front vehicle a is, the shorter the first threshold and the second threshold are, thereby ensuring faster response time at the faster speed.
When the outer vehicle C is inserted between the rear vehicle B and the front vehicle a, the rear vehicle control device 10 suddenly decelerates due to detection of the outer vehicle C, and at this time, the first relative distance suddenly becomes a relative distance sensing value between the rear vehicle B and the outer vehicle C, i.e., the distance d2 shown in fig. 6B, so that the first relative distance suddenly decreases (i.e., from d1 to d2), so that the rear vehicle control device 10 determines that the variation amount of the first relative distance per unit time is greater than or equal to the first threshold value; similarly, the sudden change of the second relative distance into the sensed relative distance between the leading vehicle A and the outer vehicle C, i.e., the distance d3 shown in FIG. 6B, causes the sudden decrease of the second relative distance (i.e., the change from d1 to d3), which causes the trailing vehicle control device 10 to determine that the change amount of the second relative distance per unit time is greater than or equal to the second threshold value.
When the rear vehicle control device 10 determines that the variation amount of the first relative distance in unit time is greater than or equal to the first threshold value and determines that the variation amount of the second relative distance in unit time is greater than or equal to the second threshold value, it is determined that the queue break event exists. Since the determination of the queue-break event according to the present invention relates to the first relative distance sensed by the rear vehicle sensing device 12 and the second relative distance sensed by the front vehicle sensing device 22, a two-way relative distance evaluation (double check) is performed on the rear vehicle B and the front vehicle a, so that the determination of the queue-break event is more accurate.
When the rear vehicle control device 10 detects the queue-inserting event, please refer to fig. 3 to 7A, the rear vehicle control device 10 outputs a rear vehicle deceleration command S1 to the rear vehicle B to control the rear vehicle B to decelerate, for example, the rear vehicle deceleration command S1 limits the throttle opening of the rear vehicle throttle system 41 and/or enhances the braking force of the rear vehicle braking system 42, so as to decelerate the rear vehicle B; in addition, the rear vehicle control device 10 also wirelessly transmits a queue-insertion notification N1 and a rear vehicle deceleration notification N2 via the rear vehicle communication device 11 (step S12).
When the rear vehicle control device 10 is connected to the front vehicle control device 20, the front vehicle control device 20 receives the queue-inserting notification N1 and the rear vehicle deceleration notification N2 transmitted by the rear vehicle control device 10, referring to fig. 7A and 8, the front vehicle control device 20 outputs a front vehicle acceleration command S2 to the front vehicle a according to the queue-inserting notification N1 to control the front vehicle a to accelerate, for example, the accelerator opening of the front vehicle accelerator system 44 is increased by the front vehicle acceleration command S2 to achieve the purpose of accelerating the front vehicle a, and maintain a safe distance with the external vehicle C; as shown in fig. 7A, the front vehicle control device 20 also wirelessly transmits a front vehicle acceleration notification N3 to the rear vehicle control device 10, and the rear vehicle control device 10 receives the front vehicle acceleration notification N3 to know that the front vehicle a is accelerated (step S13).
Because the rear vehicle B has decelerated and the front vehicle a has accelerated, the gap between the rear vehicle B and the front vehicle a is extended, so that the outer vehicle C can travel between the rear vehicle B and the front vehicle a, maintaining the fleet in queue, and at this time, the rear vehicle B follows behind the outer vehicle C and still follows the following condition 100.
In addition, referring to fig. 7A, when the rear vehicle control device 10 wirelessly transmits the queue-insertion notice N1 and the rear vehicle deceleration notice N2 to the front vehicle control device 20 through the rear vehicle communication device 11, the queue-insertion notice N1 and the rear vehicle deceleration notice N2 are also transmitted to the background host 30; when the preceding vehicle control device 20 wirelessly transmits the preceding vehicle acceleration notification N3 to the following vehicle control device 10 through the preceding vehicle communication device 21, the preceding vehicle acceleration notification N3 is also transmitted to the background host computer 30. Thus, the background host 30 can grasp the operation status of the front vehicle a and the rear vehicle B, please refer to fig. 7B and 8, when the connection between the rear vehicle control device 10 and the front vehicle control device 20 is disconnected, the background host 30 transmits the queue insertion notification N1 and the rear vehicle deceleration notification N2 to the front vehicle control device 20, the front vehicle control device 20 can output the front vehicle acceleration command S2 to the front vehicle a according to the queue insertion notification N1 transmitted from the background host 30 to control the front vehicle a to accelerate, and wirelessly transmit the front vehicle acceleration notification N3 to the background host 30 through the front vehicle communication device 21, and the background host 30 transmits the front vehicle acceleration notification N3 to the rear vehicle control device 10.
Referring to fig. 9, after the outer vehicle C drives away between the rear vehicle B and the front vehicle a, the rear vehicle control device 10 may detect that the queue-insertion event is eliminated, and at this time, referring to fig. 3 and 7A, the rear vehicle control device 10 outputs a rear vehicle acceleration command S3 to the rear vehicle B to control the rear vehicle B to accelerate, and wirelessly transmits a queue-insertion elimination notification N4 and a rear vehicle acceleration notification N5 to the front vehicle control device 20 and the background host 30; referring to fig. 7A and 8, the preceding vehicle control device 20 outputs a preceding vehicle deceleration command S4 to the preceding vehicle a according to the queue exclusion notification N4 to control the preceding vehicle to decelerate, and wirelessly transmits a preceding vehicle deceleration notification N6 to the following vehicle control device 10 and the background host 30. As described above, when the connection between the rear vehicle control device 10 and the front vehicle control device 20 is disconnected, the background host computer 30 can be used as a medium for transmitting the queue-insertion exclusion notification N4, the rear vehicle acceleration notification N5 and the front vehicle deceleration notification N6.
Since the rear vehicle B has accelerated and the front vehicle a has decelerated, the gap between the rear vehicle B and the front vehicle a is reduced, so that the rear vehicle control device 10 of the rear vehicle B follows the following condition 100 stably behind the front vehicle a.
The foregoing is a decision regarding whether the fleet is cut into a queue by an outside vehicle C, and on the other hand, the rear vehicle control device 10 may also control the rear vehicle B to accelerate or decelerate according to the amount of change in the estimated distance between the vehicles. Referring to fig. 10, the rear vehicle control device 10 determines whether the variation of the estimated vehicle-to-vehicle distance in a unit time is greater than a threshold (step S21); if not, the rear vehicle control device 10 keeps following the following condition and continues following the rear of the front vehicle a; if so, the rear vehicle control device 10 further determines whether the change in the estimated inter-vehicle distance is an increase or a decrease (step S22), and when the amount of change in the estimated inter-vehicle distance is an increase, the rear vehicle control device 10 controls the rear vehicle B to accelerate so as to follow the front vehicle a (step S23), and when the change in the estimated inter-vehicle distance is a decrease, the rear vehicle control device 10 controls the rear vehicle B to decelerate so as to avoid overtaking the front vehicle a (step S24). In addition, if an unexpected situation occurs, for example, the rear vehicle control device 10 receives an unexpected notification from the back-office host 30, the rear vehicle control device 10 may control the rear vehicle B to decelerate or stop.
(IV) information synchronization mechanism
As described above, the front vehicle control device 20 periodically transmits the front vehicle information packet to the background host 30 and the rear vehicle control device 10, the background host 30 and the rear vehicle control device 10 implement an information synchronization mechanism according to the present invention, and the information synchronization mechanism determines whether there is a continuous packet or a time delay between the front vehicle information packets P _ f received by the background host 30 and the rear vehicle control device 10, so as to determine the packet transmission validity of the front vehicle control device 20.
Referring to fig. 11, the data format of each preceding vehicle information packet P _ f can include, but is not limited to, a start symbol 501, a packet sequence number 502, a local time 503, a positioning information 504, a driving information 505, a steering angle information 506, a heading information 507, and an end symbol 508. Wherein the local time 503 is a time generated by a timer of the preceding vehicle control device 20; the packet sequence number 502 is used to distinguish the preceding vehicle information packet P _ f from the following one, in the embodiment of the present invention, each time the preceding vehicle control device 20 outputs the preceding vehicle information packet P _ f, the packet sequence number 502 is added with a progressive value; the positioning information 504 can be positioning information of a Global Positioning System (GPS), which includes a positioning time and coordinates (including longitude and latitude, etc.); the driving information 505 may include information of acceleration, deceleration, vehicle speed of the preceding vehicle and braking; the steering angle information 506 may be, for example, the turning angle of the steering wheel; the heading information 507 represents the orientation of the leading vehicle a, and includes information of pitch (pitch), yaw (yaw), and Roll (Roll) of the leading vehicle a, for example.
Referring to fig. 12, the steps of the information synchronization mechanism include:
for convenience of explanation, the two previous vehicle information packets received from the previous vehicle control device 20 are a first previous vehicle information packet and a second previous vehicle information packet, respectively, and the packet sequence number of the first previous vehicle information packet is retrieved as a first previous vehicle packet sequence number, and the packet sequence number of the second previous vehicle information packet is retrieved as a second previous vehicle packet sequence number, and the local time 503 is retrieved as a local time of the previous vehicle.
Adding a progressive value to the first front vehicle packet sequence number to form a front vehicle estimated sequence number, wherein the progressive value can be '1', and then judging the transmission validity of the packet according to a comparison result of the front vehicle estimated sequence number and the second front vehicle packet sequence number and a time difference between a system time of the background host computer 30 or a time of a rear vehicle local computer of the rear vehicle control device 10 and the time of the front vehicle local computer of the second front vehicle information packet.
Therefore, when the comparison result between the estimated sequence number of the preceding vehicle and the sequence number of the second preceding vehicle packet is a non-continuous sequence number, for example, the estimated sequence number of the preceding vehicle is "100", but the sequence number of the second preceding vehicle packet is "109", it can be determined that there is a missing packet between the first preceding vehicle information packet and the second preceding vehicle information packet; on the other hand, when the time difference between the time of the rear vehicle local unit of the rear vehicle control device 10 and the time of the front vehicle local unit of the second front vehicle information packet exceeds a threshold time, the packet transmission delay phenomenon can also be determined. When there is a missing packet or a packet transmission delay, the information synchronization mechanism can determine that the packet transmission validity of the front vehicle control device 20 is low, for example, when the background host 30 determines that the data transmission validity is low, it can determine that the front vehicle control device 20 and the rear vehicle control device 10 are disconnected.
To sum up, when an outside vehicle enters between a front vehicle and a rear vehicle, the present invention can control the rear vehicle to decelerate, and for the front vehicle, the front vehicle is controlled to accelerate under the permission of road conditions (for example, the front lane of the front vehicle is unblocked) so as to properly pull the distance between the front vehicle and the rear vehicle and avoid the accident from the outside vehicle; when the outer vehicle drives away, the fleet is recovered to drive stably by means of the deceleration of the front vehicle and the acceleration of the rear vehicle. On the other hand, the actual relative distance between the front vehicle and the rear vehicle can be reflected by the estimated distance between the vehicles, so that the rear vehicle control device can more accurately master the actual relative distance between the rear vehicle and the front vehicle; the invention evaluates the effectiveness of packet transmission through the information synchronization mechanism so as to ensure the efficiency of the following decision.
Claims (10)
1. A queued driving decision system for use in a fleet of vehicles, the fleet including a rear vehicle and a front vehicle, the queued driving decision system comprising:
the rear vehicle control device is arranged on the rear vehicle to control the rear vehicle to follow the front vehicle, when the rear vehicle control device detects a queue-inserting event, a rear vehicle deceleration command is output to the rear vehicle to control the rear vehicle to decelerate, and a queue-inserting notice and a rear vehicle deceleration notice are wirelessly transmitted;
the front vehicle control device is arranged on the front vehicle, receives the queue-inserting notification and the rear vehicle deceleration notification transmitted by the rear vehicle control device when the rear vehicle control device is connected with the front vehicle control device, outputs a front vehicle acceleration instruction to the front vehicle according to the queue-inserting notification to control the front vehicle to accelerate, and wirelessly transmits a front vehicle acceleration notification to the rear vehicle control device;
when the rear vehicle control device detects that the queue-inserting event is eliminated, outputting a rear vehicle acceleration command to the rear vehicle to control the rear vehicle to accelerate, and wirelessly transmitting a queue-inserting elimination notice and a rear vehicle acceleration notice to the front vehicle control device; the front vehicle control device outputs a front vehicle deceleration instruction to the front vehicle according to the queue-insertion exclusion notification to control the front vehicle to decelerate, and wirelessly transmits a front vehicle deceleration notification to the rear vehicle control device.
2. The queue driving decision system of claim 1, further comprising a background host, the background host being connected to the rear vehicle control device and the front vehicle control device, respectively;
the rear vehicle control device transmits the queue insertion notification and the rear vehicle deceleration notification to the background host, when the rear vehicle control device is disconnected with the front vehicle control device, the background host transmits the queue insertion notification and the rear vehicle deceleration notification to the front vehicle control device, the front vehicle control device outputs the front vehicle acceleration instruction to the front vehicle according to the queue insertion notification transmitted from the background host, wirelessly transmits the front vehicle acceleration notification to the background host, and the background host transmits the front vehicle acceleration notification to the rear vehicle control device.
3. The queue driving decision system of claim 2, wherein the background host and the rear vehicle control device implement an information synchronization mechanism, the information synchronization mechanism comprising:
the front and rear two front vehicle information packets received from the front vehicle control device are respectively a first front vehicle information packet and a second front vehicle information packet, and a first front vehicle packet sequence number of the first front vehicle information packet and a second front vehicle packet sequence number of the second front vehicle information packet and a front vehicle local time are captured;
and adding a progressive value to the first front vehicle packet serial number to form a front vehicle estimated serial number, and judging the packet transmission effectiveness of the front vehicle control device according to the comparison result of the front vehicle estimated serial number and the second front vehicle packet serial number and the time difference between the background system time of the background host and the front vehicle local time of the second front vehicle information packet.
4. The queue driving decision system according to one of claims 1 to 3, wherein the rear vehicle control device is in signal connection with a rear vehicle communication device, a rear vehicle sensing device and a rear vehicle information device provided to the rear vehicle;
the rear vehicle control device obtains a first relative distance from rear vehicle sensing information received by the rear vehicle sensing device, wherein the first relative distance is a relative distance sensing value between the rear vehicle and a front object of the rear vehicle when the position of the rear vehicle is taken as a starting point;
the rear vehicle control device obtains a second relative distance from a front vehicle information packet received by the rear vehicle communication device, wherein the second relative distance is a relative distance sensing value between the front vehicle and a rear object of the front vehicle when the position of the front vehicle is taken as a starting point;
the rear vehicle control device judges whether the variation of the first relative distance in a unit time is larger than or equal to a first threshold value or not, and judges whether the variation of the second relative distance in the unit time is larger than or equal to a second threshold value or not;
when the variation of the first relative distance in the unit time is greater than or equal to the first threshold value and the variation of the second relative distance in the unit time is also greater than or equal to the second threshold value, the rear vehicle control device determines that the queue-inserting event exists.
5. The queue driving decision system according to one of claims 1 to 3, wherein the rear vehicle control device is in signal connection with a rear vehicle communication device, a rear vehicle sensing device and a rear vehicle information device provided to the rear vehicle;
the rear vehicle control device receives rear vehicle sensing information from the rear vehicle sensing device and obtains a first relative distance from the rear vehicle sensing information, wherein the first relative distance is a relative distance sensing value between the rear vehicle and the front vehicle when the position of the rear vehicle is taken as a starting point;
the rear vehicle control device receives a front vehicle information packet from the rear vehicle communication device and obtains a second relative distance from the front vehicle information packet, wherein the second relative distance is a relative distance sensing value between the front vehicle and the rear vehicle when the position of the front vehicle is taken as a starting point;
the rear vehicle control device receives rear vehicle information from the rear vehicle information device, obtains a rear vehicle speed from the rear vehicle information, and calculates an estimated moving distance according to the rear vehicle speed and a time interval value;
the rear vehicle control device controls the rear vehicle to follow the front vehicle according to a following condition which is set as preset comparison information of a following vehicle speed and a following vehicle distance; the rear vehicle control device calculates a vehicle following estimated distance according to the first relative distance, the second relative distance and the estimated moving distance and a weight value, compares the vehicle following estimated distance with the vehicle following distance under the vehicle following condition, and adjusts a rear vehicle throttle system and a rear vehicle braking system of the rear vehicle.
6. A queue driving decision method, comprising:
controlling a rear vehicle to follow a vehicle following condition to follow the rear of a front vehicle through a rear vehicle control device;
the rear vehicle control device detects whether a queue-inserting event exists or not, if yes, the rear vehicle control device outputs a rear vehicle deceleration instruction to the rear vehicle to control the rear vehicle to decelerate, and wirelessly transmits a queue-inserting notice and a rear vehicle deceleration notice;
when the rear vehicle control device is connected with a front vehicle control device arranged on the front vehicle, the front vehicle control device receives the queue-inserting notification and the rear vehicle deceleration notification, outputs a front vehicle acceleration instruction to the front vehicle according to the queue-inserting notification to control the front vehicle to accelerate, and wirelessly transmits a front vehicle acceleration notification to the rear vehicle control device;
the rear vehicle control device detects whether the queue-inserting event is eliminated, if so, the rear vehicle control device outputs a rear vehicle acceleration instruction to the rear vehicle to control the rear vehicle to accelerate, and wirelessly transmits a queue-inserting elimination notice and a rear vehicle acceleration notice to the front vehicle control device;
when the rear vehicle control device is connected with the front vehicle control device, the front vehicle control device outputs a front vehicle deceleration instruction to the front vehicle according to the queue-insertion exclusion notice to control the front vehicle to decelerate, and wirelessly transmits a front vehicle deceleration notice to the rear vehicle control device.
7. The queue driving decision method of claim 6, further comprising:
the rear vehicle control device transmits the queue-inserting notice and the rear vehicle deceleration notice to a background host;
when the rear vehicle control device is disconnected with the front vehicle control device, the background host machine transmits the queue-inserting notice and the rear vehicle deceleration notice to the front vehicle control device;
the front vehicle control device outputs the front vehicle acceleration instruction to the front vehicle according to the queue-inserting notice transmitted from the background host computer, and wirelessly transmits the front vehicle acceleration notice to the background host computer;
the background host computer transmits the acceleration notice of the front vehicle to the rear vehicle control device.
8. The queue driving decision method of claim 7, further comprising an information synchronization mechanism, the information synchronization mechanism comprising:
the background host and the rear vehicle control device receive a front vehicle information packet and a rear vehicle information packet from the front vehicle control device, wherein the front vehicle information packet and the rear vehicle information packet are respectively a first front vehicle information packet and a second front vehicle information packet, a first front vehicle packet serial number of the first front vehicle information packet is captured, and a second front vehicle packet serial number of the second front vehicle information packet and a front vehicle local time are captured;
the background host computer and the rear vehicle control device add a progressive value to the first front vehicle packet serial number to form a front vehicle estimated serial number, and the packet transmission effectiveness of the front vehicle control device is judged according to the comparison result of the front vehicle estimated serial number and the second front vehicle packet serial number and the time difference between the background system time of the background host computer and the front vehicle local time of the second front vehicle information packet.
9. The queue driving decision method according to any one of claims 6 to 8, wherein the step of the rear vehicle control device determining the queue-break event comprises:
the rear vehicle control device obtains a first relative distance from rear vehicle sensing information received by a rear vehicle sensing device, wherein the first relative distance is a relative distance sensing value between the rear vehicle and a front object of the rear vehicle when the position of the rear vehicle is taken as a starting point;
the rear vehicle control device obtains a second relative distance from a front vehicle information packet received by a rear vehicle communication device, wherein the second relative distance is a relative distance sensing value between the front vehicle and a rear object of the front vehicle when the position of the front vehicle is taken as a starting point;
the rear vehicle control device judges whether the variation of the first relative distance in a unit time is larger than or equal to a first threshold value or not, and judges whether the variation of the second relative distance in the unit time is larger than or equal to a second threshold value or not;
when the variation of the first relative distance in the unit time is greater than or equal to the first threshold value and the variation of the second relative distance in the unit time is also greater than or equal to the second threshold value, the rear vehicle control device determines that the queue-inserting event exists.
10. The queue driving decision method according to any one of claims 6 to 8, wherein the rear vehicle control device receives a rear vehicle sensing information from a rear vehicle sensing device and obtains a first relative distance from the rear vehicle sensing information, the first relative distance being a relative distance sensing value between the rear vehicle and the front vehicle when the position of the rear vehicle is taken as a starting point;
the rear vehicle control device receives a front vehicle information packet from a rear vehicle communication device and obtains a second relative distance from the front vehicle information packet, wherein the second relative distance is a relative distance sensing value between the front vehicle and the rear vehicle when the position of the front vehicle is taken as a starting point;
the rear vehicle control device receives rear vehicle information from a rear vehicle information device, obtains a rear vehicle speed from the rear vehicle information, and calculates an estimated moving distance according to the rear vehicle speed and a time interval value;
the rear vehicle control device controls the rear vehicle to follow the front vehicle according to a following condition which is set as preset comparison information of a following vehicle speed and a following vehicle distance; the rear vehicle control device calculates a vehicle following estimated distance according to the first relative distance, the second relative distance and the estimated moving distance and a weight value, compares the vehicle following estimated distance with the vehicle following distance under the vehicle following condition, and adjusts a rear vehicle throttle system and a rear vehicle braking system of the rear vehicle.
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