CN202394091U - Vehicle automatic formation driving system - Google Patents
Vehicle automatic formation driving system Download PDFInfo
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- CN202394091U CN202394091U CN2011204503764U CN201120450376U CN202394091U CN 202394091 U CN202394091 U CN 202394091U CN 2011204503764 U CN2011204503764 U CN 2011204503764U CN 201120450376 U CN201120450376 U CN 201120450376U CN 202394091 U CN202394091 U CN 202394091U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The utility model provides a vehicle automatic formation driving system, including a lead vehicle and a plurality of formation vehicles led by the lead vehicle. Each vehicle includes a wireless communication module, a radar module, a positioning module and a total vehicle controller connected to an embedded vehicle computer; the total vehicle controller is connected the embedded vehicle computer through CAN bus; the radar module comprises at least three ultrasonic radar sensors, which are respectively positioned at the front side, the right front side and the left front side of the headstock portion; the wireless communication module employs GPRS and WIFI communication modes; and turning, acceleration, deceleration and brake driving instructions of the formatted vehicles are emit by the lead vehicle, and a plurality of formatted vehicles drive according to the instructions. According to the utility model, acceleration, deceleration, stop or turning of a front vehicle can be sensitively detected, the distance to the front vehicle is controlled, the vehicles are driven according to unified instructions, and the automatic formation driving is safe and high efficient.
Description
Technical field
The utility model relates to the automobile wireless communication technical field, particularly relates to a kind of automatic formation driving system of vehicle.
Background technology
In recent years; The formation control problem of autonomous vehicle has caused researchist's concern gradually; This mainly is that vehicle is on the increase because along with worldwide economy and development of science and technology, and the highway system vehicle flowrate also sharply increases; Be accompanied by the for example appearance of unfavorable phenomenons such as traffic congestion, traffic hazard, environmental pollution, cause serious personal injury and economic loss.In addition; At some special dimension; As low in visibility, under the abominable running environment of grade with a varied topography, fleet that autonomous vehicle forms appears with various appointment formation modes through regular meeting; Accomplish the situation of tasks such as detecting, go on patrol, rescue through cooperating with each other, therefore also become the emphasis problem of research for the formation control problem research of autonomous vehicle.The formation of vehicle is controlled at the raising traffic safety and road passage capability aspect, military and space detection aspect have important in theory and realistic meaning.
In China, the density of population is big, and the vehicle owning amount is also huge relatively, yet there is a big difference for the relative developed country of the highway construction of China, and is also backward relatively aspect vehicle control.The phenomenon of therefore traffic congestion, environmental pollution is more serious in China.Because geographic position, climate effect; Weather such as wet weather, dense fog, snowfall often appear in some areas of China; These harsh climate factors also cause adverse effect to vehicle ', have lowered the security of vehicle '; The frequent accidents that causes being correlated with takes place, and the method for seeking various transport solution problems is also just especially urgent.Control is exactly a kind of effective vehicle dispatching method through vehicle is formed into columns.
The research of going is many in controlling models and the research of control strategy scheduling theory but at present domestic vehicle is formed into columns, and do not propose a kind of feasible actual central automatic formation driving system of vehicle that is applied to.
The utility model content
The purpose of the utility model is to provide a kind of automatic formation driving system of vehicle, realizing the distance of automatically control and front vehicles, and goes according to unified driving instruction.
For realizing above-mentioned purpose and other relevant purposes, the utility model provides a kind of automatic formation driving system of vehicle, comprises leader's vehicle and a plurality of formation vehicles that led by said leader's vehicle, and each vehicle comprises:
Be used for setting up the wireless communication module that network is connected with other vehicles of automatic formation driving system;
Be used to detect radar module with the front vehicles distance;
The location positioning module that is used for minute book car position information;
The embedded car running computer that is connected with said wireless communication module, said radar module and said location positioning module; Said embedded car running computer is used to analyze and handle each information by said wireless communication module, said radar module and the transmission of said location positioning module, and output formation driving instruction;
Be connected with said embedded car running computer, be used to carry out the entire car controller of the formation driving instruction of said embedded car running computer output with the running of control vehicle topworks.
Preferably, said entire car controller is connected through the CAN bus with embedded car running computer.
Preferably, said radar module comprises at least three ultrasonic radar sensors and signal processor, and said three ultrasonic radar sensors lay respectively at the dead ahead of headstock portion, the right front of headstock portion and the left front of headstock portion.
Preferably, said wireless communication module comprises wireless network card and wireless router, and adopts the communication mode of GPRS and WIFI.
Preferably, the unification of said formation driving instruction is sent by leader's vehicle, and a plurality of said formation vehicles go according to driving instruction.
As stated, the automatic formation driving system of a kind of vehicle of the utility model has following beneficial effect:
Make leader's vehicle and formation vehicle form WLAN through wireless communication module, connect, make the formation vehicle receive the driving instruction of leader's vehicle; Acceleration, the deceleration of control vehicle stop or turning, and make vehicle go according to the driving trace of front vehicles; Reaching forms into columns efficiently automatically goes, and guarantees that the formation vehicle can go by the relative distance and the angle of the expectation of leader's vehicle, in addition; Through three ultrasonic radar sensors of body forward structure configuration at formation vehicle and leader's vehicle; Realized that vehicle is controlled automatically and the distance of front vehicles, prevented to knock into the back, thereby reach the safety of forming into columns and going.
Description of drawings
The formation that Fig. 1 is shown as the automatic formation driving system of vehicle of the utility model synoptic diagram that goes.
Fig. 2 is shown as each vehicle configuration structural representation of the automatic formation driving system of vehicle of the utility model.
The element numbers explanation:
1 entire car controller
2 embedded car running computers
3 radar modules
4 wireless communication modules
5 locating modules
6 leader's vehicles
7 formation vehicles
Embodiment
Below by the embodiment of particular specific embodiment explanation the utility model, be familiar with other advantages and effect that this technological personage can be understood the utility model easily by the content that this instructions disclosed.
See also Fig. 1.Notice; The appended graphic structure that illustrates of this instructions, ratio, size etc.; All only in order to cooperate the content that instructions disclosed, understanding and reading for being familiar with this technological personage, is not in order to limit the enforceable qualifications of the utility model; Event is the technical essential meaning of tool not; The adjustment of the modification of any structure, the change of proportionate relationship or size is not influencing under effect that the utility model can produce and the purpose that can reach, and the technology contents that all should still drop on the utility model and disclosed gets in the scope that can contain.Simultaneously; Quoted in this instructions as " on ", D score, " left side ", " right side ", " centre " reach the term of " " etc.; Also be merely be convenient to narrate clear, but not in order to limit the enforceable scope of the utility model, the change of its relativeness or adjustment; Under no essence change technology contents, when also being regarded as the enforceable category of the utility model.
As shown in Figure 1, the utility model provides a kind of automatic formation driving system of vehicle, comprises leader's vehicle 6 and a plurality of formation vehicles 7 that led by said leader's vehicle.As shown in Figure 2, each vehicle comprises: be used for setting up the wireless communication module 4 that network is connected with other vehicles of automatic formation driving system, said wireless communication module 4 comprises wireless network card and wireless router, and adopts the communication mode of GPRS and WIFI; Be used to detect radar module 3 with the front vehicles distance; Said radar module 3 comprises at least three ultrasonic radar sensors and signal processor, and said three ultrasonic radar sensors lay respectively at the dead ahead of headstock portion, the right front of headstock portion and the left front of headstock portion; The location positioning module 5 that is used for minute book car position information; The embedded car running computer 2 that is connected with said wireless communication module 4, said radar module 3 and said location positioning module 5; Said embedded car running computer 2 is used to analyze and handle each information by said wireless communication module 4, said radar module 3 and 5 transmission of said location positioning module, and output formation driving instruction; Be connected with said embedded car running computer 2, be used to carry out the entire car controller 1 of the formation driving instruction of said embedded car running computer 2 outputs with the running of control vehicle topworks, said entire car controller 1 is crossed the CAN bus with embedded car running computer logical 2 and is connected; The unification of said formation driving instruction is sent by leader's vehicle 6, and a plurality of said formation vehicle 7 goes according to driving instruction.For making those skilled in the art more further know native system, below will be respectively the configuration structure of leader's vehicle 6 and formation vehicle 7 be described in detail.
1) leader's vehicle 6 comprises:
Wireless communication module 4; Comprise wireless network card and wireless router, and adopt the communication mode of GPRS and WIFI, be used for setting up network and be connected with a plurality of formation vehicles 7 of automatic formation driving system; Leader's vehicle 6 must be set up wireless connections with the formation vehicle 7 that goes of forming into columns automatically; Be connected into same WLAN, to realize the real-time Communication for Power of 7 on leader's vehicle 6 and formation vehicle, with the driving instruction that turns to, quickens, slows down and brake to 7 transmission of formation vehicle; Make formation vehicle 7 accept unified driving instruction, by the formation route running; Radar module 3; Comprise at least three ultrasonic radar sensors and signal processor; Three ultrasonic radar sensors lay respectively at the dead ahead of headstock portion, the right front of headstock portion and the left front of headstock portion; Be used to detect with the front vehicles distance, prevent collision, guarantee the safety of forming into columns and going; Locating module 5 adopts the GPS locating module, is used to write down the position of leader's vehicle 6 positional informations, to transmit the positional information of leader's vehicles 6 to formation vehicle 7 through network; Wireless communication module 4, radar module 3, locating module 5 are connected on the embedded car running computer 2; Embedded car running computer 2 is used to analyze and handle each information by said wireless communication module 4, said radar module 3 and 5 transmission of said location positioning module; Three ultrasonic radar sensors record and are sent to signal processor behind the range information with front vehicles and carry out data processing; At last with result transmission to embedded car running computer 2; Embedded car running computer 2 is also handled the positional information that formation vehicle 7 is come through wireless network transmissions; Embedded car running computer 2 obtains making the car load response policy after the information, and to formation vehicle 6 output formation driving instructions.The embedded car running computer 2 of leader's vehicle 6 disposes as follows:
(1) 802.11 serial wireless network cards are installed, 802.11a, 802.11b, 802.11g, 802.11n or 802.11p series can, and open Internet and connect (Ics) service of sharing;
(2) in " wireless network connection attribute ", remove all " first-selected accessing points ";
(3) add " Computer-to-Computer network ", and specified network title (SSID), to let formation vehicle 7 find the WLAN of formation;
(4) select configuration " WEP data encryption ", the formation vehicle 7 in going with the checking formation.
Leader's vehicle 6 also comprise with embedded car running computer 2 through the entire car controller 1 that the CAN bus is connected, the driving instruction that is used to carry out said embedded car running computer 2 outputs operates to control vehicle topworks.
2) formation vehicle 7 comprises:
Wireless communication module 4; Comprise wireless network card and wireless router; And the communication mode of employing GPRs and WIFI, being used for setting up network with other formation vehicle 7 and being connected with leader's vehicle 6 of automatic formation driving system, formation vehicle 7 must be set up wireless connections with leader's vehicle 6 with other formation vehicle; Be connected into same WLAN; To realize formation vehicle 7 and 6 on vehicle of leader and formation vehicle 7 real-time Communication for Power to each other,, make formation vehicle 7 by unified driving instruction to receive the driving instruction that turns to, quickens, slows down and brake of leader's vehicle 6 transmission; Unified formation route running, the vehicle 7 of forming into columns simultaneously can transmit the information of vehicle location each other; Radar module 3; Comprise at least three ultrasonic radar sensors and signal processor; Three ultrasonic radar sensors lay respectively at the dead ahead of headstock portion, the right front of headstock portion and the left front of headstock portion; With the distance of accurate detection and front vehicles, prevent collision, guarantee the safety of forming into columns and going; Locating module 5 adopts the GPS locating module, and the position that is used to write down formation vehicle 7 positional informations is to transmit the positional information of this formation vehicle to leader's vehicle 6 and other formation vehicle through network; Wireless communication module 4, radar module 3, locating module 5 are connected on the embedded car running computer 2; Embedded car running computer 2 is used to analyze and handle each information by said wireless communication module 4, said radar module 3 and 5 transmission of said location positioning module; Three ultrasonic radar sensors record and are sent to signal processor behind the range information with front vehicles and carry out data processing; At last with result transmission to embedded car running computer 2; Embedded car running computer 2 is also handled positional information and the formation driving instruction that leader's vehicle 6 transmits through WLAN, makes the car load response policy after embedded car running computer 2 obtains information and instructs.The embedded car running computer 2 of formation vehicle 7 disposes as follows:
(1) 802.11 serial wireless network cards are installed, 802.11a, 802.11b, 802.11g, 802.11n or 802.11p series can, and open Internet and connect (ICS) service of sharing;
(2) the network title of in wireless network access point or wireless network inventory, selecting leader's vehicle 6 to set up, the input validation password adds the WLAN of forming into columns, and sets up network with leader's vehicle 6 and other formation vehicle 7 and is connected.
Formation vehicle 7 also comprises the entire car controller 1 that is connected through the CAN bus with embedded car running computer 2; Be used to carry out the driving instruction that turns to, quickens, slows down and brake of said embedded car running computer 2 outputs; Unified instruction operation so that control vehicle topworks goes by formation reaches the purpose of forming into columns and going.
In sum, the automatic formation driving system of a kind of vehicle of the utility model makes leader's vehicle and formation vehicle form network through wireless communication module; Connect, make the formation vehicle receive the driving instruction of leader's vehicle, acceleration, the deceleration of control vehicle; Stop or turning, make vehicle go according to the driving trace of front vehicles, reaching forms into columns efficiently automatically goes; Guarantee that the formation vehicle can go by the relative distance and the angle of the expectation of leader's vehicle; In addition, through three ultrasonic radar sensors of body forward structure configuration, realized that vehicle is controlled automatically and the distance of front vehicles at formation vehicle and leader's vehicle; Prevent to knock into the back, thereby reach the safety of forming into columns and going.So the utility model has effectively overcome deficiency of the prior art and the tool high industrial utilization.
The foregoing description is the principle and the effect thereof of illustrative the utility model only, but not is used to limit the utility model.Any be familiar with this technological personage all can be under the spirit and category of the utility model, the foregoing description is modified or is changed.Therefore, have common knowledge the knowledgeable under such as in the technical field, must contain by the claim of the utility model not breaking away from all equivalence modification or changes that spirit that the utility model discloses and technological thought are accomplished down.
Claims (5)
1. the automatic formation driving system of a vehicle comprises leader's vehicle and by a plurality of formation vehicles that said leader's vehicle leads, it is characterized in that each vehicle comprises:
Be used for setting up the wireless communication module that network is connected with other vehicles of automatic formation driving system;
Be used to detect radar module with the front vehicles distance;
The location positioning module that is used for minute book car position information;
The embedded car running computer that is connected with said wireless communication module, said radar module and said location positioning module; Said embedded car running computer is used to analyze and handle each information by said wireless communication module, said radar module and the transmission of said location positioning module, and output formation driving instruction;
Be connected with said embedded car running computer, be used to carry out the entire car controller of the formation driving instruction of said embedded car running computer output with the running of control vehicle topworks.
2. the automatic formation driving system of vehicle according to claim 1, it is characterized in that: said entire car controller is connected through the CAN bus with embedded car running computer.
3. the automatic formation driving system of vehicle according to claim 1; It is characterized in that: said radar module comprises at least three ultrasonic radar sensors and signal processor, and three said ultrasonic radar sensors lay respectively at the dead ahead of headstock portion, the right front of headstock portion and the left front of headstock portion.
4. the automatic formation driving system of vehicle according to claim 1, it is characterized in that: said wireless communication module comprises wireless network card and wireless router, and adopts the communication mode of GPRS and WIFI.
5. the automatic formation driving system of vehicle according to claim 1 is characterized in that: the unification of said formation driving instruction is sent by leader's vehicle, and a plurality of said formation vehicles go according to driving instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204503764U CN202394091U (en) | 2011-11-15 | 2011-11-15 | Vehicle automatic formation driving system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204503764U CN202394091U (en) | 2011-11-15 | 2011-11-15 | Vehicle automatic formation driving system |
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| CN202394091U true CN202394091U (en) | 2012-08-22 |
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| CN2011204503764U Expired - Fee Related CN202394091U (en) | 2011-11-15 | 2011-11-15 | Vehicle automatic formation driving system |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103116353A (en) * | 2013-01-28 | 2013-05-22 | 贵州大学 | Intelligent vehicle collaborative traveling control device |
| CN104008642A (en) * | 2013-02-26 | 2014-08-27 | 现代自动车株式会社 | Vehicle apparatus and system for controlling platoon travel and method for selecting lead vehicle |
| CN106338998A (en) * | 2016-10-27 | 2017-01-18 | 吉林大学 | Method to control automobile to drive in cluster type formation |
| CN106873589A (en) * | 2017-02-16 | 2017-06-20 | 北理慧动（常熟）车辆科技有限公司 | A kind of autonomous follower method of intelligent vehicle |
| CN106919173A (en) * | 2017-04-06 | 2017-07-04 | 吉林大学 | A kind of braking integrated control method formed into columns based on heavy vehicle |
| CN107767658A (en) * | 2016-08-15 | 2018-03-06 | 福特全球技术公司 | Form a team autonomous vehicle navigation sensor exchange |
| CN107797555A (en) * | 2017-10-30 | 2018-03-13 | 奇瑞汽车股份有限公司 | A kind of tourist coach automatic Pilot control method and device |
| CN108121341A (en) * | 2017-10-31 | 2018-06-05 | 深圳市博鑫创科科技有限公司 | The automatic parking scheme and system of a kind of balance car fleet |
| CN108352110A (en) * | 2016-06-30 | 2018-07-31 | 华为技术有限公司 | Control method, common control equipment and the vehicle of platooning's traveling |
| CN110689713A (en) * | 2018-07-06 | 2020-01-14 | 上海博泰悦臻网络技术服务有限公司 | Vehicle, vehicle equipment and vehicle association control method thereof |
| CN110831263A (en) * | 2018-08-09 | 2020-02-21 | 北京图森智途科技有限公司 | Motorcade communication system, method and device |
| CN113748446A (en) * | 2019-04-08 | 2021-12-03 | 曼卡车和巴士欧洲股份公司 | Technique for comparing the travel of a motor vehicle |
| CN114677833A (en) * | 2022-03-28 | 2022-06-28 | 广州小鹏汽车科技有限公司 | Control method of vehicle queue, vehicle queue and storage medium |
| US12142148B2 (en) | 2019-04-08 | 2024-11-12 | Man Truck & Bus Se | Technology for balancing journeys of motor vehicles |
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2011
- 2011-11-15 CN CN2011204503764U patent/CN202394091U/en not_active Expired - Fee Related
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103116353A (en) * | 2013-01-28 | 2013-05-22 | 贵州大学 | Intelligent vehicle collaborative traveling control device |
| CN104008642A (en) * | 2013-02-26 | 2014-08-27 | 现代自动车株式会社 | Vehicle apparatus and system for controlling platoon travel and method for selecting lead vehicle |
| CN104008642B (en) * | 2013-02-26 | 2017-11-17 | 现代自动车株式会社 | The system and the method for selection leader's vehicle that vehicle fitting and control in a row travel |
| CN108352110A (en) * | 2016-06-30 | 2018-07-31 | 华为技术有限公司 | Control method, common control equipment and the vehicle of platooning's traveling |
| CN107767658A (en) * | 2016-08-15 | 2018-03-06 | 福特全球技术公司 | Form a team autonomous vehicle navigation sensor exchange |
| CN107767658B (en) * | 2016-08-15 | 2022-02-08 | 福特全球技术公司 | Team autonomous vehicle navigation sensor interchange |
| CN106338998A (en) * | 2016-10-27 | 2017-01-18 | 吉林大学 | Method to control automobile to drive in cluster type formation |
| CN106338998B (en) * | 2016-10-27 | 2019-03-12 | 吉林大学 | A method of control automobile is formed into columns traveling in the form of cluster |
| CN106873589A (en) * | 2017-02-16 | 2017-06-20 | 北理慧动（常熟）车辆科技有限公司 | A kind of autonomous follower method of intelligent vehicle |
| CN106919173B (en) * | 2017-04-06 | 2020-05-05 | 吉林大学 | Brake integrated control method based on heavy vehicle formation |
| CN106919173A (en) * | 2017-04-06 | 2017-07-04 | 吉林大学 | A kind of braking integrated control method formed into columns based on heavy vehicle |
| CN107797555A (en) * | 2017-10-30 | 2018-03-13 | 奇瑞汽车股份有限公司 | A kind of tourist coach automatic Pilot control method and device |
| CN108121341A (en) * | 2017-10-31 | 2018-06-05 | 深圳市博鑫创科科技有限公司 | The automatic parking scheme and system of a kind of balance car fleet |
| CN110689713A (en) * | 2018-07-06 | 2020-01-14 | 上海博泰悦臻网络技术服务有限公司 | Vehicle, vehicle equipment and vehicle association control method thereof |
| CN110831263A (en) * | 2018-08-09 | 2020-02-21 | 北京图森智途科技有限公司 | Motorcade communication system, method and device |
| CN113748446A (en) * | 2019-04-08 | 2021-12-03 | 曼卡车和巴士欧洲股份公司 | Technique for comparing the travel of a motor vehicle |
| US12142148B2 (en) | 2019-04-08 | 2024-11-12 | Man Truck & Bus Se | Technology for balancing journeys of motor vehicles |
| CN114677833A (en) * | 2022-03-28 | 2022-06-28 | 广州小鹏汽车科技有限公司 | Control method of vehicle queue, vehicle queue and storage medium |
| CN114677833B (en) * | 2022-03-28 | 2023-10-31 | 广州小鹏汽车科技有限公司 | Control method for vehicle queue, vehicle queue and storage medium |
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| C14 | Grant of patent or utility model | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120822 Termination date: 20171115 |
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| CF01 | Termination of patent right due to non-payment of annual fee |