CN114734984A - 一种头车引导的自动驾驶编队行驶状态监控系统 - Google Patents

一种头车引导的自动驾驶编队行驶状态监控系统 Download PDF

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CN114734984A
CN114734984A CN202210306700.8A CN202210306700A CN114734984A CN 114734984 A CN114734984 A CN 114734984A CN 202210306700 A CN202210306700 A CN 202210306700A CN 114734984 A CN114734984 A CN 114734984A
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formation
vehicle
driving
motion
display system
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陈广
刘祥勇
钟志华
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Tongji University
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Tongji University
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Abstract

本发明涉及一种头车引导的自动驾驶编队行驶状态监控系统，包括：实车编队系统，包括具有引导车和跟随车的实车编队，各车辆上分别设有UWB设备及传感器；编队运动信息解算系统，基于UWB设备及传感器采集的数据，对编队中的引导车、跟随车分别进行运动解算，并对引导车、跟随车之间的相对运动进行解算，进而获取车辆的运动/动力参数，获取的结果发送至编队状态显示系统；编队状态显示系统，对编队运动信息解算系统的解算结果进行显示，并基于解算结果获取相关车辆的运行状态数据，根据相关车辆的运行状态数据对相关车辆进行控制。与现有技术相比，本发明具有提高驾驶操作性、安全性，降低后台监控难度等优点。

Description

一种头车引导的自动驾驶编队行驶状态监控系统
技术领域
本发明涉及智能汽车技术领域，尤其是涉及一种头车引导的自动驾驶编队行驶状态监控系统。
背景技术
自动驾驶车辆编队问题的研究来源于多智能体系统任务规划及协作问题的研究，它主要是针对多自动驾驶车辆在复杂多变的交通环境下，通过调节自身的行驶速度和转向，使得自身与附近行驶的自动驾驶车辆之间保持相对稳定的几何位姿及运动状态，同时又满足任务需求和适应周边环境约束，从而实现多自动驾驶车辆之间以无线通信为纽带的协同行驶行为。
自动驾驶车辆编队对交通系统具有重要的意义。1)行驶减小车头时距，基于高精度的传感器和高速低延时的通信网络，可大幅甚至成倍提高通行能力，缓解交通拥堵。2)无需人工驾驶，行驶过程中可休息、娱乐、工作，提高舒适性，降低出行时间的负效用，甚至可能产生正效用。3)传感器精度、智能网联水平的提升可以减少人为失误，降低甚至避免碰撞风险，提升安全性。4)通过车辆的编队行驶的空气动力学及其仿真的分析数据中发现，车辆编队行驶可有效地降低车辆所受到的空气阻力，减少了行驶过程中遇到的“走走停停”现象，在车辆的耗油量和排放量上得到有效的降低。
现阶段，现有的远程驾驶系统一般只采用单车传感器感知车辆周围交通环境，缺乏对车辆运动学状态的感知，在一定程度上给远程驾驶造成一定安全隐患；全局编队运行状态信息的缺失，使得头车驾驶员无法获取全局跟车的运行状态和完成车速的调整；此外，远程的通信困难，无法保证后台对编队驾驶的实时编队状态查看和远程操控。
发明内容
本发明的目的就是为了克服上述现有技术存在的缺陷而提供一种头车引导的自动驾驶编队行驶状态监控系统。
本发明的目的可以通过以下技术方案来实现：
一种头车引导的自动驾驶编队行驶状态监控系统，该系统包括：
实车编队系统，包括具有引导车和跟随车的实车编队，各车辆上分别设有UWB设备及传感器；
编队运动信息解算系统，基于UWB设备及传感器采集的数据，对编队中的引导车、跟随车分别进行运动解算，并对引导车、跟随车之间的相对运动进行解算，进而获取车辆的运动/动力参数，获取的结果发送至编队状态显示系统；
编队状态显示系统，对编队运动信息解算系统的解算结果进行显示，并基于解算结果获取相关车辆的运行状态数据，根据相关车辆的运行状态数据对相关车辆进行控制。
进一步地，所述编队状态显示系统包括：
近端编队驾驶显示系统，通过画面访问、改变引导车控制器或跟随车控制器中的数据，同时实时监控车辆运动信号，供头车的驾驶员查看；
网络传输系统，将编队车辆的控制器参通过网络反馈至远程编队驾驶显示系统，以进行远程编队状态实时监控；
远程编队驾驶显示系统，对编队整体运动状态进行显示，并输出信号至编队车辆的控制器，进而控制编队的跟车间距、急停运动。
进一步地，所述近端编队驾驶显示系统和所述网络传输系统均设置在实车编队的头车的驾驶舱内。
进一步地，所述近端编队驾驶显示系统采用人机显示屏，所述网络传输系统采用云平台，所述远程编队驾驶显示系统为智能移动终端APP。
进一步地，所述编队状态显示系统与所述编队运动信息解算系统之间通过UWB和CAN通信的模式进行车辆间的信息交互。
进一步地，所述实车编队系统的各编队车辆上设有UWB的设备发送端和设备接收端，所述UWB设备发送端将前车运动信息发送至后车的UWB设备接收端，同时后车的控制系统采集UWB设备接收端的运动信息发送至CAN总线上；所述近端编队驾驶显示系统通过自身CAN总线功能采集引导车运动信息、跟随车运动信息和两车间距信息；同时，近端编队驾驶显示系统发送CAN总线信息至控制器，实现监控端发送指令调整跟车间隙、急停运动。
进一步地，在编队运动信息解算系统对引导车进行运动解算过程中，通过引导车控制器采集引导车的制动踏板开度、加速踏板开度和方向盘转角，且引导车控制器所采集的信息以UWB设备的无线通信方式将信息传输至近端编队行驶显示系统的CAN总线上。
进一步地，在编队运动信息解算系统对跟随车进行运动解算过程中，通过跟随车控制器采集跟随车的制动踏板开度、加速踏板开度和方向盘转角，且跟随车控制器所采集的信息以CAN总线的方式将信息传输至近端编队行驶显示系统的CAN总线上。
进一步地，在编队运动信息解算系统对引导车、跟随车的相对运动进行运动解算过程中，通过记录UWB设备的发送端和接收端的时间差计算引导车与跟随车的相对距离，并通过UWB自带的陀螺仪计算引导车与跟随车的方位角和姿态角，同时UWB设备将相对距离、方位角和姿态角信息以UWB设备的无线通信手段将信息传输给近端编队行驶显示系统的CAN总线上。
进一步地，跟随车的制动踏板开度、加速踏板开度和方向盘转角采用Ziegler-Nichols方法进行双闭环控制计算，并通过相对运动间距和预设跟车间距进行反馈调节控制。
本发明提供的头车引导的自动驾驶编队行驶状态监控系统，相较于现有技术至少包括如下有益效果：
本发明系统将近端编队驾驶显示系统、网络传输系统均安置于头车的驾驶舱，进而能够实现由头车引导的自动驾驶状态显示及控制，解决了跟随车运行状态感知视野盲区大、且缺乏超视距范围下的跟随车编队信息等问题，提高头车驾驶员的驾驶操作性和安全性，同时降低远程后台的监控难度；此外，智能车辆编队系统的自监控安全系统，能有效保证远程驾驶安全性。
附图说明
图1为实施例中头车引导的自动驾驶编队行驶状态监控系统的显示及通信架构图；
图2为实施例中近端显示系统编队初始显示画面示意图；
图3为实施例中近端显示系统引导车运动状态显示画面示意图；
图4为实施例中近端显示系统跟随车运动状态显示画面示意图；
图5为实施例中远端显示系统编队初始显示画面示意图；
图6为实施例中远端显示系统引导车运动状态显示画面示意图；
图7为实施例中远端显示系统跟随车运动状态显示画面示意图；
图8为实施例中编队车辆跟随控制双闭环示意图；
图9为实施例中编队行驶状态显示处理流程图。
具体实施方式
下面结合附图和具体实施例对本发明进行详细说明。显然，所描述的实施例是本发明的一部分实施例，而不是全部实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都应属于本发明保护的范围。
实施例
本发明涉及一种头车引导的自动驾驶编队行驶状态监控系统，该系统能够解决跟随车运行状态感知视野盲区大、且缺乏超视距范围下的跟随车编队信息等问题，提高头车驾驶员的驾驶操作性和安全性，同时降低远程后台的监控难度；此外，智能车辆编队系统的自监控安全系统，能有效保证远程驾驶安全性。
如图1所示，头车引导的自动驾驶编队行驶状态监控系统包括编队状态显示系统、编队运动信息解算系统和实车编队系统。
其中，编队状态显示系统包括近端编队驾驶显示系统、网络传输系统和远程编队驾驶显示系统。在本实施例中，近端编队驾驶显示系统采用人机显示屏，网络传输系统采用云平台，远程编队驾驶显示系统为智能移动终端的APP，三者的交互是人机显示屏、云平台、智能移动终端APP三者间的交互。人机显示屏、云平台均安置于头车驾驶舱。人机显示屏通过以太网以485的通信模式输出模拟量/数字量信号至云平台，云平台可以通过4G网络将信息传送给智能移动终端APP以相互访问数据，编队行驶信息可以实现人机交互界面和APP端的信息同步更新。优选地，云平台采用云盒子，云盒子为现有技术中常使用的后台存储器，该后台存储器还设有后台定时器等功能。
本发明近端编队驾驶显示系统的作用在于通过画面可以访问和改变引导车控制器或跟随车控制器中的数据，同时可以实时监控车辆运动信号，供头车的驾驶员查看。网络传输系统的作用在于：将编队车辆的控制器参数，通过4G网络反馈给后台APP，便于后台进行远程编队状态实时监控。远程编队驾驶显示系统的作用为：对编队整体运动状态进行显示，还可以输出信号给编队控制器(包括引导车控制器和跟随车控制器)，来控制编队的跟车间距、急停等运动。编队运动信息解算来源系统的作用在于：获取车辆的运动/动力参数。
进一步地，本发明的编队状态显示系统与编队运动信息解算系统通过UWB和CAN通信的模式进行车辆间的信息交互。实车编队系统的编队车辆上设有UWB的设备发送端和设备接收端。UWB设备发送端将前车运动信息以250KHZ的频率发送给后车的UWB设备接收端，同时后车的控制系统采集UWB设备接收端的运动信息，并以250KHZ的频率发送到CAN总线上。人机显示屏通过自身CAN总线功能采集引导车运动信息、跟随车运动信息和两车间距信息；同时，人机显示屏可发送CAN总线信息至控制器，实现监控端发送指令调整跟车间、急停等功能。控制器包括引导车控制器和跟随车控制器。更具体地：
(1)近端编队显示系统
近端编队显示系统的人机显示屏设定在编队的头车的驾驶舱内，人机显示屏通过CAN线网络提取编队运行状态数据，将数据以画面的形式形象的展示给头车的驾驶员。人机显示屏内的操作模块包括主界面控制模块、引导车状态数据控制模块和跟随车状态数据控制模块，各模块分别对应有一个显示界面。即人机显示屏的显示界面包括编队状态显示主界面、引导车状态数据显示界面、跟随车状态数据显示界面。
主界面控制模块设有车辆显示单元、编队速度显示单元、跟车间距显示单元、引导车运行数据显示单元、跟随车运行数据显示单元。引导车运行数据显示单元、跟随车运行数据显示单元分别与引导车状态数据控制模块和跟随车状态数据控制模连接，用于通过控制显示相关车辆的运行状态数据。
基于此，作为优选方案，编队状态显示主界面是画面显示屏的第一个界面，其状态显示画面可以如图2所示案例，包括引导车姿态显示条、跟随车姿态显示条、编队相对姿态展示、编队速度显示表盘(m/s)、跟车间距表盘(dm)。
引导车的原始运行状态数据，在主界面的右下角开发有“引导车运行数据”按钮，该按钮对应引导车运行数据显示单元。点击该按钮，连接到引导车状态数据控制模块，该模块以表格的形式显示引导车的运行状态数据，界面可以如图3所示案例，该界面包含引导车的运行状态、转角、速度、制动、加速等情况。该界面包含“返回”和“跟随车数据”按钮，可分别返回到主界面和跟随车数据界面。
跟随车的原始运行状态数据，在主界面的右下角开发有“跟随车运行数据”按钮，该按钮对应跟随车运行数据显示单元。点击该按钮，连接到跟随车状态数据控制模块，该模块以表格的形式显示跟随车的运行状态数据，界面可以如图4所示案例，该界面包含跟随车的运行状态、转角、速度、制动、加速等情况。该界面包含“返回”和“引导车数据”按钮，可分别返回到主界面和引导车界面。
(2)远程编队驾驶显示系统
远程编队驾驶显示系统包括编队监控模块、编队行驶显示模块、引导车信息模块、跟随车信息模块。
其中，编队监控模块设有编队监控初始界面，该界面包括三个按钮图标选项：“引导车信息”、“跟随车信息”、“编队信息界面”，可按钮分别连接编队行驶显示模块、引导车信息模块和跟随车信息模块。选取对应的按钮图标可查看相关的信息。
编队行驶显示模块设有编队信息界面，该界面包括编队行驶速度表盘图标、跟车间距表盘图标、界面旋转图标、返回图标，界面可以采用如图5所示案例。
引导车信息模块设有引导车信息界面，该界面包括引导车时间图标、引导车状态图标、引导车转角图标、引导车速度图标、引导车制动图标、引导车加速图标、返回图标，界面可以采用如图6所示案例。
跟随车信息模块设有跟随车信息界面，该界面包括跟随车时间图标、跟随车状态图标、跟随车转角图标、跟随车速度图标、跟随车制动图标、跟随车加速图标、返回图标，界面可以采用如图7所示案例。
(3)编队运动信息解算系统
该子系统涉及的编队运动信息解算包括引导车运动解算、跟随车运动解算、引导车与跟随车相对运动解算。
其中，引导车运动解算通过引导车控制器采集引导车的制动踏板开度、加速踏板开度和方向盘转角。即引导车控制器分别与引导车的运动组合传感器、转向柱角度传感器、加速踏板角度传感器、制动踏板角度传感器连接，更进一步地，加速踏板角度传感器与制动踏板角度传感器通过引导车通讯控制器连接引导车控制器。引导车控制器通过原车OBD控制引导车通讯控制器。引导车控制器所采集的信息以UWB设备的无线通信手段将信息传输给近端编队行驶显示系统的can总线上。
引导车与跟随车的相对运动解算，通过记录UWB设备的发送端和接收端的时间差计算引导车与跟随车的相对距离，通过UWB自带的陀螺仪计算引导车与跟随车的方位角和姿态角，同时UWB设备将相对距离、方位角和姿态角信息以UWB设备的无线通信手段将信息传输给近端编队行驶显示系统的can总线上。
跟随车运动解算通过跟随车控制器采集跟随车的制动踏板开度、加速踏板开度和方向盘转角。即跟随车控制器分别与跟随车的运动组合传感器、转向柱角度传感器、转向电机、加速踏板角度传感器、制动踏板角度传感器、加速踏板拉线执行器、制动踏板拉线执行器连接，更进一步地，加速踏板角度传感器、制动踏板角度传感器、加速踏板拉线执行器、制动踏板拉线执行器通过加速与制动踏板控制器连接跟随车控制器。转向柱角度传感器、转向电机连接转向控制器后连接跟随车控制器。跟随车控制器通过原车OBD控制加速与制动踏板控制器。跟随车控制器所采集的信息以CAN总线的方式将运动信息传输给近端编队行驶显示系统的CAN总线。
进一步地，跟随车的制动踏板开度、加速踏板开度和方向盘转角，是由Ziegler-Nichols方法进行双闭环控制计算，该方法通过相对运动间距和预设跟车间距进行反馈调节控制，如图8所示。
进一步地，如图9所示，本发明编队行驶状态显示的具体流程步骤包括：引导车发出转角和速度信息，并由引导车的控制器采集，采用UWB的无线传输手段将头车信息发送至跟随车的无线接收单元(UWB设备)，通过制定传输协议，进一步编码接收到的信息并存储至后台存储器(云盒子)，后台定时器功能按照一定的频率提取存储的信息，将其显示在后台界面(人机显示屏)上。
本发明系统将近端编队驾驶显示系统、网络传输系统均安置于头车的驾驶舱，进而能够实现由头车引导的自动驾驶状态显示及控制，解决了跟随车运行状态感知视野盲区大、且缺乏超视距范围下的跟随车编队信息等问题，提高头车驾驶员的驾驶操作性和安全性，同时降低远程后台的监控难度；此外，智能车辆编队系统的自监控安全系统，能有效保证远程驾驶安全性。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的工作人员在本发明揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以权利要求的保护范围为准。

Claims (10)

1.一种头车引导的自动驾驶编队行驶状态监控系统，其特征在于，包括：
实车编队系统，包括具有引导车和跟随车的实车编队，各车辆上分别设有UWB设备及传感器；
编队运动信息解算系统，基于UWB设备及传感器采集的数据，对编队中的引导车、跟随车分别进行运动解算，并对引导车、跟随车之间的相对运动进行解算，进而获取车辆的运动/动力参数，获取的结果发送至编队状态显示系统；
编队状态显示系统，对编队运动信息解算系统的解算结果进行显示，并基于解算结果获取相关车辆的运行状态数据，根据相关车辆的运行状态数据对相关车辆进行控制。
2.根据权利要求1所述的头车引导的自动驾驶编队行驶状态监控系统，其特征在于，所述编队状态显示系统包括：
近端编队驾驶显示系统，通过画面访问、改变引导车控制器或跟随车控制器中的数据，同时实时监控车辆运动信号，供头车的驾驶员查看；
网络传输系统，将编队车辆的控制器参通过网络反馈至远程编队驾驶显示系统，以进行远程编队状态实时监控；
远程编队驾驶显示系统，对编队整体运动状态进行显示，并输出信号至编队车辆的控制器，进而控制编队的跟车间距、急停运动。
3.根据权利要求2所述的头车引导的自动驾驶编队行驶状态监控系统，其特征在于，所述近端编队驾驶显示系统和所述网络传输系统均设置在实车编队的头车的驾驶舱内。
4.根据权利要求3所述的头车引导的自动驾驶编队行驶状态监控系统，其特征在于，所述近端编队驾驶显示系统采用人机显示屏，所述网络传输系统采用云平台，所述远程编队驾驶显示系统为智能移动终端APP。
5.根据权利要求2所述的头车引导的自动驾驶编队行驶状态监控系统，其特征在于，所述编队状态显示系统与所述编队运动信息解算系统之间通过UWB和CAN通信的模式进行车辆间的信息交互。
6.根据权利要求5所述的头车引导的自动驾驶编队行驶状态监控系统，其特征在于，所述实车编队系统的各编队车辆上设有UWB的设备发送端和设备接收端，所述UWB设备发送端将前车运动信息发送至后车的UWB设备接收端，同时后车的控制系统采集UWB设备接收端的运动信息发送至CAN总线上；所述近端编队驾驶显示系统通过自身CAN总线功能采集引导车运动信息、跟随车运动信息和两车间距信息；同时，近端编队驾驶显示系统发送CAN总线信息至控制器，实现监控端发送指令调整跟车间隙、急停运动。
7.根据权利要求6所述的头车引导的自动驾驶编队行驶状态监控系统，其特征在于，在编队运动信息解算系统对引导车进行运动解算过程中，通过引导车控制器采集引导车的制动踏板开度、加速踏板开度和方向盘转角，且引导车控制器所采集的信息以UWB设备的无线通信方式将信息传输至近端编队行驶显示系统的CAN总线上。
8.根据权利要求6所述的头车引导的自动驾驶编队行驶状态监控系统，其特征在于，在编队运动信息解算系统对跟随车进行运动解算过程中，通过跟随车控制器采集跟随车的制动踏板开度、加速踏板开度和方向盘转角，且跟随车控制器所采集的信息以CAN总线的方式将信息传输至近端编队行驶显示系统的CAN总线上。
9.根据权利要求6所述的头车引导的自动驾驶编队行驶状态监控系统，其特征在于，在编队运动信息解算系统对引导车、跟随车的相对运动进行运动解算过程中，通过记录UWB设备的发送端和接收端的时间差计算引导车与跟随车的相对距离，并通过UWB自带的陀螺仪计算引导车与跟随车的方位角和姿态角，同时UWB设备将相对距离、方位角和姿态角信息以UWB设备的无线通信手段将信息传输给近端编队行驶显示系统的CAN总线上。
10.根据权利要求8所述的头车引导的自动驾驶编队行驶状态监控系统，其特征在于，跟随车的制动踏板开度、加速踏板开度和方向盘转角采用Ziegler-Nichols方法进行双闭环控制计算，并通过相对运动间距和预设跟车间距进行反馈调节控制。
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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