CN115457763A - Backward following intelligent networking fleet topology structure and formation method thereof - Google Patents
Backward following intelligent networking fleet topology structure and formation method thereof Download PDFInfo
- Publication number
- CN115457763A CN115457763A CN202210975793.3A CN202210975793A CN115457763A CN 115457763 A CN115457763 A CN 115457763A CN 202210975793 A CN202210975793 A CN 202210975793A CN 115457763 A CN115457763 A CN 115457763A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- information
- fleet
- following
- vehicles
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to a backward following intelligent networked vehicle fleet topological structure and a formation method thereof, wherein the intelligent networked vehicle fleet topological structure comprises a pilot vehicle and at least one following vehicle, wherein the pilot vehicle and the following vehicle are respectively provided with a vehicle-mounted sensing device, a vehicle-mounted communication device and a vehicle-mounted control device, and the vehicle-mounted sensing device is used for collecting information of the vehicle and surrounding vehicles; the vehicle-mounted communication equipment is used for information interaction among vehicles in a fleet, and specifically, vehicle information flow is transmitted from a rear vehicle to an adjacent front vehicle; the vehicle-mounted control equipment is used for correspondingly controlling the working states of a power system, a braking system and a steering system of the self vehicle. Compared with the prior art, the method can be well suitable for the rear vehicle/tail vehicle leading scenes of formation active deceleration, deceleration plus jam lane change and the like, and the maneuverability of the intelligent internet fleet is effectively improved.
Description
Technical Field
The invention relates to the technical field of intelligent networking vehicle formation, in particular to a backward following intelligent networking vehicle team topological structure and a formation method thereof.
Background
In recent years, "intellectualization" and "networking" have become important directions of development of vehicle-road cooperation technology, and an intelligent networking automobile combining the two technologies can effectively alleviate increasingly serious traffic jam and safety problems at present.
The vehicle Cooperative formation (CACC, cooperative Adaptive Cruise Control) is one of important scenes of a vehicle-road Cooperative system, is used as an important upgrade of an Adaptive Cruise Control (ACC) system, and mainly realizes cooperation among vehicles through wireless communication to reduce vehicle speed fluctuation and improve the stability of a fleet, so that the CACC is an important internet automatic driving function. The safety of travelling can be improved, the traffic efficiency can be improved, and the energy consumption of travelling is reduced. According to field tests, the CACC can reduce the headway to 0.5 seconds, which is much less than 1-2 seconds of headway for human driving of vehicles (HV), by vehicle-to-vehicle communication and cooperative driving. The reduction of the headway time improves the road traffic capacity and the maneuverability; furthermore, CACCs are currently expected to reduce crash exposure times (TETs) by more than 90%, thereby improving driving safety. More importantly, the queue stability of the CACC fleet can greatly eliminate traffic flow fluctuation caused by human drivers, so that the whole traffic is more homogenized and stabilized.
As shown in fig. 1, a formation topology structure adopted by a conventional intelligent networked vehicle formation mainly includes: a relay follow topology, a relay-leader follow topology, a bidirectional topology, a dual relay follow topology, a dual relay-leader follow topology, etc. However, the above topological structures are all leading for the front vehicle/the head vehicle, and it is difficult to adapt to the leading scenes of the rear vehicle/the tail vehicle such as active deceleration of formation, deceleration and lane change by adding a plug. Therefore, a formation topological structure applicable to scenes such as active deceleration, congestion adding, lane changing and the like of an intelligent networked fleet is needed, so that an application short board of the intelligent networked fleet can be completed.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a backward following intelligent networked vehicle fleet topological structure and a formation method thereof, which can be suitable for rear vehicle/tail vehicle leading scenes such as formation active deceleration, deceleration plus plug lane changing and the like, and effectively improve the maneuverability of the intelligent networked vehicle fleet.
The purpose of the invention can be realized by the following technical scheme: a backward following intelligent networked fleet topology structure comprises a pilot vehicle and at least one following vehicle, wherein the pilot vehicle and the following vehicle are respectively provided with a vehicle-mounted sensing device, a vehicle-mounted communication device and a vehicle-mounted control device, and the vehicle-mounted sensing device is used for collecting information of the self vehicle and surrounding vehicles;
the vehicle-mounted communication equipment is used for information interaction among vehicles in the motorcade;
the vehicle-mounted control equipment is used for correspondingly controlling the working states of a power system, a braking system and a steering system of the vehicle.
Further, the vehicle-mounted sensing device comprises, but is not limited to, a laser radar, a millimeter wave radar and a camera.
Further, the vehicle-mounted sensing equipment is specifically used for collecting position information, speed information and acceleration information of the vehicle and surrounding vehicles of the vehicle.
Further, the information interaction among the vehicles in the fleet is specifically as follows: the self vehicle only receives the information transmitted by the adjacent rear vehicle, namely the vehicle information flow is transmitted from the rear vehicle to the front vehicle.
Further, the control target of the vehicle-mounted control equipment is to control the self vehicle and the rear vehicle to keep a preset stable following distance and a speed error:
wherein J is a control objective function, a ego Is the acceleration of the bicycle, x ego For self-parking position, x rear For rear car position, v ego Is the speed of the vehicle, v rear The rear vehicle speed;
a ego to control the quantity, x ego 、v ego Are all state quantities, t is time,
is the derivative of the self-vehicle position with respect to time,
is the derivative of the speed of the vehicle with respect to time.
A backward following intelligent networking fleet formation method comprises the following steps:
s1, vehicle-mounted sensing equipment of each vehicle in a fleet collects and acquires information of the own vehicle and surrounding vehicles in real time to obtain own vehicle information flow of each vehicle;
s2, the vehicle-mounted communication equipment of each vehicle in the motorcade transmits the information of the vehicle to an adjacent front vehicle;
and S3, each vehicle in the fleet receives information transmitted by adjacent rear vehicles, and accordingly the vehicle-mounted control equipment correspondingly controls the vehicle to stably follow the rear vehicles and keeps the vehicle following distance between the vehicle and the rear vehicles within a set distance range.
Further, the step S1 specifically includes the following steps:
s11, acquiring information of the self vehicle and surrounding vehicles in real time by the vehicle-mounted sensing equipment of each vehicle in the fleet, if the acquisition fails, executing a step S12, and otherwise, executing a step S13;
s12, taking the history information which is successfully acquired recently as the current vehicle perception information, and then executing the step S13;
and S13, forming the current information stream by all the successfully acquired sensing information.
Further, the step S3 specifically includes the following steps:
s31, each vehicle in the fleet receives information transmitted by adjacent rear vehicles, if the information is failed to be received, the step S32 is executed, and otherwise, the step S33 is executed;
s32, taking the information which is successfully received recently as the current receiving information, and then executing the step S33;
and S33, according to the information of successful receiving, each vehicle in the motorcade is controlled by the vehicle-mounted control equipment to stably follow the following vehicle, so that the stable vehicle following distance is kept.
Further, the vehicle-mounted control device particularly controls the self vehicle to stably follow the following vehicle by outputting a vehicle control command.
Further, the vehicle control command is specifically an acceleration a ego 。
Compared with the prior art, the vehicle information flow transmission mode is that the vehicle information flow is transmitted from the rear vehicle to the front vehicle, and the front vehicle correspondingly controls and keeps the following distance between the self vehicle and the rear vehicle according to the received information from the adjacent rear vehicle, so that the backward following formation driving mode is realized, the intelligent internet connection fleet can adapt to the scenes of active deceleration, active lane changing by adding a plug and the like which are mainly conducted by the rear vehicle, and the maneuverability of the intelligent internet connection fleet and the adaptability to the real traffic full scene are improved.
The controlled vehicle only communicates with the adjacent rear vehicle, so that the communication nodes can be simplified, the communication time delay can be reduced, and the data packet loss rate can be reduced, thereby ensuring the accuracy of formation control.
In the invention, each vehicle in the fleet senses the information of the own vehicle and the surrounding vehicles in real time to generate the information flow of the own vehicle in real time, and meanwhile, the controlled vehicle receives information from the adjacent rear vehicles in real time, so that the sensing information is ensured to be updated in real time, the requirements of real-time operation and control are met, the calculation load is low, and the calculation efficiency is high.
Drawings
FIG. 1 is a schematic diagram of a prior art communication topology for a smart networked fleet;
FIG. 2 is a schematic diagram of a topology of a backward following intelligent networked fleet of vehicles in accordance with the present invention;
FIG. 3 is a flow chart of the queuing method according to the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and the specific embodiments.
Examples
As shown in fig. 2, a backward following topology structure of an intelligent internet connection fleet is suitable for driving in formation of the intelligent internet connection fleet, and includes a pilot vehicle and at least one following vehicle. Each vehicle in the fleet is provided with a vehicle-mounted sensing device, a vehicle-mounted communication device and a vehicle-mounted control device, wherein the vehicle-mounted sensing device comprises a laser radar, a millimeter wave radar and a camera and is used for collecting position information, speed information and acceleration information of the own vehicle and surrounding vehicles;
the vehicle-mounted communication equipment is used for information transmission among vehicles in a fleet, in particular to information transmission between a controlled vehicle and an adjacent rear vehicle, namely, a vehicle information flow transmission mode is that the controlled vehicle is transmitted from the rear vehicle to a front vehicle;
the vehicle-mounted control equipment is used for controlling a power system, a braking system and a steering system of the self vehicle to control the vehicle and a rear vehicle to keep a stable following distance, and particularly outputs a vehicle control command, namely acceleration a ego To give the vehicle floor to execute.
The intelligent networking fleet topology structure is applied to practice to realize a backward following intelligent networking fleet formation method, and as shown in fig. 3, the method comprises the following steps:
s1, vehicle-mounted sensing equipment of each vehicle in a fleet collects and acquires information of the own vehicle and surrounding vehicles in real time to obtain own vehicle information flow of each vehicle;
s2, the vehicle-mounted communication equipment of each vehicle in the motorcade transmits the information of the vehicle to an adjacent front vehicle;
and S3, each vehicle in the fleet receives information transmitted by adjacent rear vehicles, and accordingly the vehicle-mounted control equipment correspondingly controls the vehicle to stably follow the rear vehicles and keeps the vehicle following distance between the vehicle and the rear vehicles within a set distance range.
The embodiment adopts the technical scheme, and the specific process is as follows:
1) vehicle-mounted sensing equipment of each vehicle in a fleet collects information of the acquired vehicle and surrounding vehicles in real time, wherein the information comprises position information, speed information and acceleration information, if the acquisition fails, step 2) is executed, and otherwise, step 3) is executed;
2) Taking the latest and successfully acquired historical information as the current vehicle perception information, and then executing the step 3);
3) Forming the current vehicle perception information into a communication information stream;
4) The vehicle-mounted communication equipment of each vehicle in the motorcade transmits the information of the vehicle to the adjacent front vehicle;
5) Each vehicle in the fleet receives information transmitted by adjacent rear vehicles, if the information is failed to be received, the step 6) is executed, and if the information is not failed to be received, the step 7) is executed;
6) Taking the communication information which is successfully received recently as the current receiving information, and then executing the step 7);
7) Every vehicle in the motorcade is according to the information that comes from adjacent back car transmission of receipt, is kept with car interval stability with following car by vehicle control equipment control car, controls car and back car promptly and keeps predetermined stable car interval and the speed error with car interval:
wherein J is a control objective function; a is ego Is the own vehicle acceleration (control amount); x is the number of ego Is a self-parking position; x is a radical of a fluorine atom rear Is a rear vehicle position; v. of ego Is the speed of the bicycle; v. of rear The rear vehicle speed. x is a radical of a fluorine atom ego 、v ego The relationship between the state quantity and the control quantity is:
wherein t represents time;
is the derivative of the self-vehicle position with respect to time;
is the derivative of the vehicle speed with respect to time.
In conclusion, the backward following formation driving mode supported by the technical scheme is beneficial to realizing the formation deceleration behavior dominated by the rear vehicle, and further provides technical support of a communication layer for the formation driving behaviors such as plugging and lane changing. In practical application, compared with the traditional intelligent networked fleet, each vehicle in the intelligent networked fleet with the backward following formation topological structure is provided with a vehicle-mounted sensing device, a vehicle-mounted communication device and a vehicle-mounted control device. The vehicle-mounted sensing equipment acquires position information, speed information and acceleration information of the vehicle and surrounding vehicles through a laser radar, a millimeter wave radar and a camera, and transmits the information to an adjacent vehicle in front through vehicle-mounted high-speed wireless communication equipment; the control target of the vehicle-mounted control equipment is to control the vehicle and the rear vehicle to keep a stable following distance, and a vehicle control command, namely acceleration, is output to be executed on the bottom layer of the vehicle.
Compared with the intelligent networked vehicle formation method based on the traditional formation topological structure, the intelligent networked vehicle formation method based on the backward following topological structure firstly acquires the information of the vehicle and the surrounding vehicles, including position information, speed information and acceleration information, acquired by the vehicle-end sensing equipment of each vehicle in a vehicle fleet, and if the acquisition fails, the latest historical information is taken as the current vehicle sensing information; if the acquisition is successful, the acquired sensing information forms a communication information stream; the vehicle-mounted communication equipment of each vehicle in the motorcade transmits the vehicle information flow to the front vehicle, each vehicle in the motorcade receives the information transmitted by the rear vehicle, and if the receiving fails, the latest communication information is taken as the current receiving information; if the receiving is successful, each vehicle in the motorcade stably follows the following vehicle according to the information transmitted by the following vehicle, and the vehicle-mounted control equipment is used for controlling the vehicle to stably keep the distance between the following vehicles stable.
According to the technical scheme, the control targets of the vehicles and the following vehicles in the intelligent networked fleet are defined by defining the backward-to-forward information flow topological structure in the intelligent networked fleet, so that the scenes of the intelligent networked fleet, such as active deceleration and active plug lane change, which are dominated by the following vehicles, can be well adapted, and the intelligent networked fleet has the advantages of improving the formation active deceleration capacity, the active plug capacity and the mobility of the intelligent networked fleet.
Claims (10)
1. A backward following intelligent networked fleet topology structure is characterized by comprising a pilot vehicle and at least one following vehicle, wherein the pilot vehicle and the following vehicle are respectively provided with a vehicle-mounted sensing device, a vehicle-mounted communication device and a vehicle-mounted control device, and the vehicle-mounted sensing device is used for collecting information of the self vehicle and surrounding vehicles;
the vehicle-mounted communication equipment is used for information interaction among vehicles in the motorcade;
the vehicle-mounted control equipment is used for correspondingly controlling the working states of a power system, a braking system and a steering system of the vehicle.
2. The backward-following intelligent networked fleet topology according to claim 1, wherein said vehicle sensing devices include but are not limited to lidar, millimeter wave radar, cameras.
3. The topology structure of the backward following intelligent networked fleet according to any one of claims 1 to 2, wherein said vehicle sensing device is specifically configured to collect position information, speed information, and acceleration information of the vehicle and its surrounding vehicles.
4. The topology structure of claim 1, wherein the information interaction among vehicles in the fleet is specifically: the self vehicle only receives the information transmitted by the adjacent rear vehicle, namely the vehicle information flow is transmitted from the rear vehicle to the front vehicle.
5. The backward following intelligent networked fleet topology structure according to claim 1, wherein said vehicle control device controls the following vehicles to maintain a preset stable following distance and speed error:
wherein J is a control objective function, a ego Is the acceleration of the vehicle, x ego Is a self-parking position, x rear For rear car position, v ego Is the speed of the bicycle, v rear Is the rear vehicle speed;
a ego to control the quantity, x ego 、v ego Are all state quantities, t is time,
is the derivative of the self-vehicle position with respect to time,
is the derivative of the vehicle speed with respect to time.
6. A backward following intelligent networking fleet formation method is characterized by comprising the following steps:
s1, vehicle-mounted sensing equipment of each vehicle in a fleet collects and acquires information of the own vehicle and surrounding vehicles in real time to obtain own vehicle information flow of each vehicle;
s2, vehicle-mounted communication equipment of each vehicle in the fleet transmits the information of the vehicle to an adjacent front vehicle;
and S3, each vehicle in the fleet receives information transmitted by adjacent rear vehicles, and accordingly the vehicle-mounted control equipment correspondingly controls the vehicle to stably follow the rear vehicles and keeps the vehicle following distance between the vehicle and the rear vehicles within a set distance range.
7. The method of claim 6, wherein the step S1 comprises the following steps:
s11, acquiring information of the self vehicle and surrounding vehicles in real time by the vehicle-mounted sensing equipment of each vehicle in the fleet, if the acquisition fails, executing a step S12, and otherwise, executing a step S13;
s12, taking the history information which is successfully acquired recently as the current vehicle perception information, and then executing the step S13;
and S13, forming the current successfully acquired all perception information into a vehicle information stream.
8. The method of claim 6, wherein the step S3 comprises the following steps:
s31, each vehicle in the fleet receives information transmitted by adjacent rear vehicles, if the information is failed to be received, the step S32 is executed, and if the information is not failed to be received, the step S33 is executed;
s32, taking the latest successfully received information as the current received information, and then executing the step S33;
and S33, according to the information of successful receiving, each vehicle in the motorcade is controlled by the vehicle-mounted control equipment to stably follow the following vehicle, so that the stable vehicle following distance is kept.
9. The method as claimed in claim 8, wherein the vehicle-mounted control device is used for controlling the self vehicle to stably follow the following vehicle by outputting vehicle control instructions.
10. The method of claim 9, wherein the vehicle control command is acceleration a ego 。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210975793.3A CN115457763B (en) | 2022-08-15 | 2022-08-15 | Intelligent network train team topological structure with backward following function and formation method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210975793.3A CN115457763B (en) | 2022-08-15 | 2022-08-15 | Intelligent network train team topological structure with backward following function and formation method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115457763A true CN115457763A (en) | 2022-12-09 |
| CN115457763B CN115457763B (en) | 2023-08-29 |
Family
ID=84299268
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210975793.3A Active CN115457763B (en) | 2022-08-15 | 2022-08-15 | Intelligent network train team topological structure with backward following function and formation method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115457763B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107757534A (en) * | 2017-10-19 | 2018-03-06 | 北京图森未来科技有限公司 | A kind of automatic Pilot fleet communications method, apparatus and system |
| CN110992677A (en) * | 2019-11-20 | 2020-04-10 | 北方工业大学 | Intelligent networking automobile formation control method and system for coping with communication abnormity |
| CN110979309A (en) * | 2019-12-23 | 2020-04-10 | 北京航空航天大学 | Vehicle following model stability control method considering driver perception error |
| CN113110022A (en) * | 2021-03-30 | 2021-07-13 | 武汉理工大学 | Multi-train longitudinal following control method and device based on nonlinear PID |
| WO2022063331A1 (en) * | 2020-09-25 | 2022-03-31 | 金龙联合汽车工业（苏州）有限公司 | V2x-based formation driving networked intelligent passenger vehicle |
| CN114783170A (en) * | 2022-05-17 | 2022-07-22 | 厦门金龙联合汽车工业有限公司 | Intelligent unmanned vehicle formation system |
-
2022
- 2022-08-15 CN CN202210975793.3A patent/CN115457763B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107757534A (en) * | 2017-10-19 | 2018-03-06 | 北京图森未来科技有限公司 | A kind of automatic Pilot fleet communications method, apparatus and system |
| CN110992677A (en) * | 2019-11-20 | 2020-04-10 | 北方工业大学 | Intelligent networking automobile formation control method and system for coping with communication abnormity |
| CN110979309A (en) * | 2019-12-23 | 2020-04-10 | 北京航空航天大学 | Vehicle following model stability control method considering driver perception error |
| WO2022063331A1 (en) * | 2020-09-25 | 2022-03-31 | 金龙联合汽车工业（苏州）有限公司 | V2x-based formation driving networked intelligent passenger vehicle |
| CN113110022A (en) * | 2021-03-30 | 2021-07-13 | 武汉理工大学 | Multi-train longitudinal following control method and device based on nonlinear PID |
| CN114783170A (en) * | 2022-05-17 | 2022-07-22 | 厦门金龙联合汽车工业有限公司 | Intelligent unmanned vehicle formation system |
Non-Patent Citations (1)
| Title |
|---|
| 邱志军;杨唐涛;檀基稳;韩海航;: "网联环境下高速公路辅助驾驶车辆编队评估", 中国公路学报, no. 12, pages 66 - 75 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115457763B (en) | 2023-08-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2022063331A1 (en) | V2x-based formation driving networked intelligent passenger vehicle | |
| JP2020516977A (en) | Applications that use vehicle mass estimation | |
| US11218850B2 (en) | Adaptive early warning method based on vehicle-to-everything and apparatus thereof | |
| JP6221445B2 (en) | Vehicle travel control device | |
| WO2022127440A1 (en) | Vehicle platoon driving control method and apparatus, electronic device and storage medium | |
| CN110276945A (en) | A kind of automatic driving vehicle grouping method | |
| US20180319400A1 (en) | Automatic controller of a vehicle during starting | |
| WO2022127467A1 (en) | Method for controlling vehicles to drive as platoon, and related device | |
| DE112017000797T5 (en) | VEHICLE CONTROL DEVICE, VEHICLE CONTROL PROCEDURE AND VEHICLE CONTROL PROGRAM | |
| US11618448B2 (en) | Control arrangement for adjusting a distance between two vehicles and method for adjusting a distance between two vehicles using a control arrangement of this kind | |
| CN112498351B (en) | Automatic driving optimization system and method based on V2V | |
| CN107662608B (en) | Method for performing a function in a vehicle | |
| CN111768612A (en) | C-V2X-based vehicle formation driving strategy control method | |
| CN109367537A (en) | A kind of electric car adaptive cruise control system and method based on car networking | |
| CN113570845A (en) | Networked vehicle formation driving method and system | |
| CN112224202B (en) | Multi-vehicle cooperative collision avoidance system and method under emergency working condition | |
| DE102021107781A1 (en) | System and method for setting an overtaking trigger in such a way that constrained driving situations are prevented | |
| CN113034887A (en) | Vehicle formation driving control method and related equipment | |
| CN113515121B (en) | Intelligent driving fleet formation support system and method based on unmanned aerial vehicle | |
| CN115457763A (en) | Backward following intelligent networking fleet topology structure and formation method thereof | |
| CN113114712A (en) | Vehicle data processing method and device | |
| WO2019170452A1 (en) | A method and system for longitudinal control of vehicles in a platoon | |
| US20220383752A1 (en) | Vehicle control system and method for controlling the movement of a group of vehicles | |
| CN114454885B (en) | Method for actively creating channel changing condition | |
| CN112133096B (en) | Vehicle control system based on intelligent networking technology |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |