WO2017084601A1 - Procédé, dispositif et système de commande pour des véhicules dans l'internet des véhicules et véhicule - Google Patents

Procédé, dispositif et système de commande pour des véhicules dans l'internet des véhicules et véhicule Download PDF

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Publication number
WO2017084601A1
WO2017084601A1 PCT/CN2016/106246 CN2016106246W WO2017084601A1 WO 2017084601 A1 WO2017084601 A1 WO 2017084601A1 CN 2016106246 W CN2016106246 W CN 2016106246W WO 2017084601 A1 WO2017084601 A1 WO 2017084601A1
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vehicle
current
distance
speed
minimum
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PCT/CN2016/106246
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English (en)
Chinese (zh)
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骆磊
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深圳前海达闼云端智能科技有限公司
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Publication of WO2017084601A1 publication Critical patent/WO2017084601A1/fr

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present application relates to an Internet of Things communication technology, and more particularly to a method, device, system and vehicle for controlling a vehicle in a vehicle network.
  • One of the prior art vehicle control methods calculates the speed or acceleration of the preceding vehicle based on the distance between the vehicle and the preceding vehicle, and determines the safety distance between the front and rear vehicles according to the speed or acceleration, and then controls the speed of the vehicle. Keep the car and the front car at this safe distance.
  • the embodiment of the present application provides a method, a device, a system, and a vehicle for controlling a vehicle in a vehicle network, which are used to solve the problem that the vehicle control in the prior art is not accurate enough.
  • a method for controlling a vehicle in a vehicle network comprising: acquiring a current speed v 1 of the first vehicle, a current maximum braking capability a 1 of the first vehicle, and a second The current speed v 2 of the vehicle, the current maximum braking capacity a 2 of the second vehicle; wherein the first vehicle is the vehicle closest to the second vehicle in front of the second vehicle; determining according to v 1 , a 1 , v 2 , a 2 current minimum safety distance S security second vehicle to the first vehicle; second vehicle control safety distance S S based on the current and the current first vehicle and the second vehicle.
  • a control device for a vehicle in a vehicle network including: an acquisition module, configured to acquire a current speed v 1 of the first vehicle, and a current maximum braking capability of the first vehicle. 1 , and a current speed v 2 of the second vehicle, a current maximum braking capability a 2 of the second vehicle; wherein the first vehicle is a vehicle that is closest to the second vehicle in front of the second vehicle; a minimum safety distance determining module is configured to: according to the v 1, a 1, v 2 , a 2 determines that the second vehicle to the first vehicle safety current minimum safety distance S; control module for the current from the first vehicle and the second vehicle S The current vehicle and the S safety control the second vehicle.
  • a vehicle control device includes: a transceiver unit for data transceiving; a storage medium for storing a program; and a processor for executing a car network according to a program of the storage medium The control method of the vehicle. .
  • a vehicle comprising: the vehicle control apparatus according to the third aspect of the embodiment of the present application.
  • the control scheme of the vehicle in the vehicle network is capable of acquiring the speeds of the first vehicle and the second vehicle, the maximum braking capability of the first vehicle and the second vehicle, and then determining the between the front and the rear according to the information.
  • the minimum safe distance and control of the vehicle based on the minimum safe distance can improve the accuracy of vehicle control due to the current maximum braking capacity of the vehicle.
  • FIG. 1 is a flowchart of a method for controlling a vehicle in a vehicle network according to Embodiment 1 of the present application;
  • FIG. 2 is a schematic structural diagram of a control device for a vehicle in a vehicle network according to Embodiment 2 of the present application;
  • FIG. 3 is a schematic structural diagram of a control system of a vehicle in a vehicle network according to Embodiment 3 of the present application;
  • FIG. 4 is a schematic structural view of a vehicle according to Embodiment 4 of the present application.
  • the speed or acceleration, and the safety distance between the front and rear vehicles is determined according to the speed or acceleration, and then the speed of the vehicle is controlled to maintain the safe distance between the vehicle and the preceding vehicle.
  • Applicant believes that the speed or acceleration of the preceding vehicle calculated from the distance between the vehicle and the preceding vehicle, because the distance between the two vehicles is constantly changing, the calculated speed or acceleration is also inaccurate and not real-time, therefore, based on The control of the vehicle is not accurate enough.
  • the current vehicle control scheme only considers the distance between the two vehicles and the speed and acceleration of the two vehicles when determining the safety distance, but does not consider the two vehicles.
  • the current maximum braking capacity is therefore not accurate enough.
  • a control scheme for a vehicle in a vehicle network is provided in the embodiment of the present application, and the speeds of the first vehicle and the second vehicle, the current situation of the first vehicle and the second vehicle, and the maximum braking capability can be obtained;
  • the information determines the minimum safety distance between the front and rear vehicles, and controls the vehicle based on the minimum safety distance to improve the accuracy of the vehicle control, and keep the distance between the two vehicles at the minimum safe distance, thereby improving the road capacity and improving the road. Pass efficiency.
  • the solution in the embodiment of the present application can be applied to an on-board automated driving system of a vehicle in a vehicle network; and can also be applied to a control device of a vehicle network.
  • the second vehicle may be the first vehicle, and the first vehicle may be the first vehicle in front of the vehicle; the solution in the embodiment of the present application is applied to the control.
  • the first vehicle and the second vehicle may be two vehicles that are adjacent to each other, the first vehicle may be a preceding vehicle, and the second vehicle may be a preceding vehicle.
  • FIG. 1 is a flowchart of a method for controlling a vehicle in a vehicle network according to Embodiment 1 of the present application.
  • a method for controlling a vehicle in a vehicle network includes the following steps:
  • the first vehicle is also referred to as “front vehicle” in the embodiment of the present application
  • the second vehicle is also referred to as “rear vehicle”. It will be understood by those skilled in the art that the front and rear are only relative concepts, and that a certain vehicle can serve as both the front and the rear when targeting different reference vehicles.
  • v 1 , a 1 , v 2 , a 2 may be acquired in a predetermined cycle, for example, the second vehicle is within a predetermined range forward every 3 seconds (or 0.01 second intervals) (eg, Sending a parameter acquisition request, the first vehicle within the range responds to the request, returns v 1 , a 1 to the second vehicle, and the second vehicle detects v 2 and a 2 ; or
  • Each vehicle sets a synchronous clock, and every predetermined time, for example, 3 seconds, each vehicle transmits its current speed and current maximum braking capacity to a predetermined range, for example, 10 meters ahead and rear; each vehicle receives
  • the data is extracted from v 1 , a 1 sent by the previous car.
  • each vehicle may further carry its own logo, for example, a license plate number, etc. when transmitting its current speed and current maximum braking capability.
  • the preceding vehicle may add in the time synchronization information.
  • the GPS precise position information of the vehicle so that the rear car obtains the front vehicle position information through the synchronization information and combines the map and the own position information to determine which of the preceding vehicle data; of course, the front vehicle license plate number can also be captured by the rear camera.
  • the vehicle time information is carried in the broadcast time synchronization information to obtain the preceding vehicle information to distinguish which of the preceding vehicles is corresponding.
  • the current speed v 1 and the maximum braking capability a 1 transmitted by the first vehicle may be directly received, and the speed v 2 and the maximum braking capability a 2 may be acquired from the second vehicle; or may be the first
  • the vehicle will v 1 and a 1
  • the second vehicle will send the v 2 and the intermediate device (for example, the control device), and then forwarded by the control device; this application does not limit this.
  • the current maximum braking capability of the first vehicle may be determined according to the frictional force of the first vehicle tire currently being subjected to the road surface; the current maximum braking capability of the second vehicle may be according to the second vehicle The tire is currently determined by the friction of the road surface.
  • the current maximum braking capacity may refer to the maximum negative acceleration that the vehicle obtains and can maintain under the maximum braking force.
  • the vehicle can calculate the frictional force of the tire on the road surface according to the current load, the weight distribution of the front and rear wheels, and the current road surface condition and the tire grip force, and then calculate the vehicle under the maximum braking force of the vehicle under the friction force according to the friction force.
  • the maximum negative acceleration that is maintained when the predetermined speed (eg, 100 kilometers per second) is decelerated to zero.
  • each vehicle can measure the current load, front and rear wheel weight distribution and road condition coefficient in real time.
  • the tire grip can be determined based on the performance of the vehicle tire.
  • the tire grip can be determined based on the tire grip parameters when the vehicle is factory set.
  • the current maximum brake The absolute value of the vehicle's capacity is inversely proportional to the load, proportional to the friction of the road surface, inversely proportional to the absolute value of the difference between the weight distribution of the front and rear wheels and the ideal value of the vehicle design, and proportional to the tire grip.
  • the lowest speed limit v 2 of the following vehicle may be further obtained. If v 2 is the lowest ⁇ v 1 , then according to v 1 , a 1 , a 2 Determine the current minimum safety distance S safety of the front and rear vehicles.
  • the vehicle can send the minimum speed limit and the maximum speed limit information of the vehicle together with the current speed and the current maximum braking capacity to the rear vehicle, so that the rear vehicle can perform corresponding control according to the information.
  • v 2 is the lowest ⁇ v 1 , it means that the rear car can be reduced to the same speed as the preceding car. At this time, it can be assumed that both cars are driving at the speed of the previous car, and the minimum safety distance of the two cars is calculated. . In the specific implementation, if v 2 is lower >v 1 , it means that the speed of the rear vehicle will always be higher than that of the preceding vehicle. At this time, it is possible to control the overtaking of the rear vehicle, or increase the speed of the preceding vehicle, etc., which is not limited in this application.
  • the minimum speed limit and the maximum speed limit of the vehicle may be set by the user, or may be set by the control device, which is not limited in this application.
  • the rear car when the current car speed is greater than the rear car, the rear car will not be able to catch up with the front car, and may not be controlled.
  • the current vehicle speed is equal to the car, according to v 1, a 1, a 2 and determines the preceding vehicle following vehicle current minimum safety distance S safety.
  • a 1, a 2 are negative, in the specific embodiment, for ease of understanding, according to a further absolute value of the
  • t 0 and c are preset constants.
  • t 0, t 0 may be set in accordance with empirical values, e.g., 0.1s t 0 may be the communication delay between the first vehicle and the second vehicle.
  • c may be a separation distance that the driver of the two vehicles can accept when the speed of the two vehicles is reduced to 0, which may be a set constant, any constant greater than or equal to 0, for example, 1 meter.
  • the derivation process of S security in this case can be as follows:
  • the minimum safe distance is S safety
  • the communication delay is t 0
  • the distance between the two vehicles is Ss at the time t 0 when the preceding vehicle starts to brake.
  • the distance between the two cars can be 0 when the two cars are stationary, but there is no collision when they are close together, but considering the driver's feeling, this distance can be set to a constant c, c can be set to 1m, 2m, etc. Wait for any constant, so
  • the above is the safe distance for the rear car to be weaker than the front car, in order to ensure that the two cars do not collide when the front car is suddenly braked.
  • t 0, t 0 may be set in accordance with empirical values, e.g., 0.1s t 0 may be the communication delay between the first vehicle and the second vehicle.
  • c may be a separation distance that the driver of the two vehicles can accept when the speed of the two vehicles is reduced to 0, which may be a set constant, any constant greater than or equal to 0, for example, 1 meter.
  • the derivation process of S security in this case can be as follows:
  • the minimum safe distance is S safety
  • the communication delay is t 0
  • the distance between the two vehicles is Ss at the time t 0 when the preceding vehicle starts to brake.
  • the above is the safety distance of the rear car when the maximum braking capacity is greater than that of the preceding car, in order to ensure that the two cars do not collide when the front car is suddenly braked.
  • After determining S security may further detect the first vehicle and the second vehicle, the distance to the current S; and the relationship between the current distance and the minimum safety distance of a second vehicle control.
  • the detection of the current distance of the first vehicle and the second vehicle that travels may be performed in various manners, for example, the distance between the host vehicle and the preceding vehicle is detected by the distance sensor.
  • the current control of the second vehicle according to S safety and S may specifically include controlling the second vehicle to decelerate if V 2 ⁇ v 1 when S is currently ⁇ S safe . That is, when the distance between the rear vehicle and the preceding vehicle is less than the minimum safety distance, if the current speed of the rear vehicle is greater than or equal to the current speed of the preceding vehicle, the second vehicle is controlled to decelerate.
  • the driver may be issued with a deceleration prompt, such as issuing a specific audible alarm, or issuing a voice "You are too small from the preceding vehicle, please slow down” until The distance of the preceding vehicle is increased to be greater than or equal to S safety ; it is also possible to directly control the second vehicle brake to a predetermined speed, for example, to decelerate to less than v 1 ; and more extreme, to control the second vehicle to brake to rest.
  • a deceleration prompt such as issuing a specific audible alarm, or issuing a voice "You are too small from the preceding vehicle, please slow down” until The distance of the preceding vehicle is increased to be greater than or equal to S safety ; it is also possible to directly control the second vehicle brake to a predetermined speed, for example, to decelerate to less than v 1 ; and more extreme, to control the second vehicle to brake to rest.
  • the second specific mode of S103 when S is currently > S safe , if v 2 ⁇ v 1 , the highest speed limit v 2 of the second vehicle is acquired; if v 2 ⁇ v 2 is the highest , then the second is controlled.
  • the vehicle reduces the distance from the first vehicle to S safety . That is, when the distance between the rear vehicle and the preceding vehicle is greater than the minimum safety distance, if the current speed of the rear vehicle is less than or equal to the current speed of the preceding vehicle, the maximum speed limit of the rear vehicle is further obtained, if the maximum speed limit is greater than that of the rear vehicle. At the current speed, the rear car is controlled to reduce the distance from the preceding vehicle to S safety .
  • the distance between the rear vehicle and the preceding vehicle can be reduced in various ways.
  • the driver can be prompted to narrow the distance, such as issuing a specific audible alarm, or issuing a voice "You are too far away from the preceding vehicle. , you can speed up" until the distance to the front car is reduced to less than or equal to S safety ; you can also directly control the rear car acceleration, and when the distance between the two cars is equal to S safety , then decelerate to the same speed as the previous car. .
  • the unit of the speed v is meters/second (m/s)
  • the unit of the distance S is meters (m)
  • the unit of the braking capability a is meters/square seconds (m/s 2 ).
  • the solution in the embodiment of the present application may be applied to a control device.
  • the vehicle enters the control range of the control device, the current maximum braking capacity of the vehicle, the current speed of the vehicle, the maximum speed limit and the minimum speed limit of the vehicle are reported in a predetermined period; and the information can be reported at the same time as the information is reported.
  • Vehicle front and rear vehicle information; the control device can also determine the front and rear vehicle information of each vehicle according to the position of each vehicle; then the control device calculates the minimum safety distance between each vehicle and its own preceding vehicle according to the obtained information of each vehicle, and according to The minimum safe distance Adjust the speed of the vehicle behind.
  • the speed of the following vehicle can be adjusted according to the situation of the following vehicle, for example, if the current speed of the rear vehicle is low.
  • the vehicle maintains a constant speed and maintains a distance at the minimum safe distance S of the current speed, thereby enabling the vehicle to maintain speed synchronization and keep the vehicle at a minimum safe distance at the current speed, improving road traffic efficiency.
  • the speeds of the first vehicle and the second vehicle, the current situation and the maximum braking capability of the first vehicle and the second vehicle can be obtained; and then the minimum safety between the front and the rear vehicles is determined according to the information.
  • the distance is controlled based on the minimum safe distance. Since the maximum braking capacity of the current situation of the vehicle is taken into consideration when calculating the minimum safety distance, the accuracy of vehicle control is improved.
  • the embodiment of the present application further provides a control device for a vehicle in a vehicle network. Since the principle of solving the problem is similar to the method provided in the first embodiment of the present application, the implementation of the device can be referred to the method. The implementation, repetitions will not be repeated.
  • FIG. 2 is a schematic structural diagram of a control device for a vehicle in a vehicle network according to Embodiment 2 of the present application.
  • Example 2 two Telematics vehicle control apparatus 200 includes: an obtaining module 201, configured to obtain a first current speed of the vehicle v 1, the maximum current capability of the first vehicle braking a 1 And a current speed v 2 of the second vehicle, a current maximum braking capability a 2 of the second vehicle; wherein the first vehicle is a vehicle that is closest to the second vehicle in front of the second vehicle; the minimum safety distance determining module 202 is configured to Determining, according to the v 1 , a 1 , v 2 , a 2 , the current minimum safety distance S of the second vehicle and the first vehicle is safe ; the control module 203 is configured to: according to the current state of the first vehicle and the second vehicle S and a second current from the vehicle to the safety control S.
  • an obtaining module 201 configured to obtain a first current speed of the vehicle v 1, the maximum current capability of the first vehicle braking a 1 And a current speed v 2 of the second vehicle, a current maximum braking capability a 2 of the second vehicle;
  • the obtaining module comprises: a first receiving sub-module, for receiving the current speed of the vehicle transmitted from the first v 1; comprising: transmitting a parameter within a predetermined time every predetermined forward range acquisition request, receiving a first vehicle The v 1 returned to the second vehicle in response to the request.
  • the obtaining module comprises: a trigger submodule, configured to trigger the first vehicle for determining the road surface frictional force a 1 vehicle tire according to the first by a current; and a second receiving sub-module, for receiving the transmitted first vehicle The current maximum braking capacity a 1 ; the maximum braking capacity determining module for determining the a 2 according to the frictional force of the second vehicle tire currently being subjected to the road surface.
  • the minimum safety distance determining module specifically includes: a minimum speed limit obtaining submodule, configured to acquire a minimum speed limit v 2 of the second vehicle when the v 1 ⁇ v 2 ; and a minimum safety distance determining submodule, v 2 at the lowest ⁇ v 1, the basis of the v 1, a 1, a 2 determines the current minimum safety distance S to the safety of the first vehicle and the second vehicle.
  • the minimum safe distance determination sub-module comprises: determining means for determining the absolute value of a 1
  • the minimum safety distance determining sub-module further includes: a second determining sub-module for, when
  • the vehicle control apparatus further comprising: a current distance detection module for detecting the first vehicle and the second vehicle from the current S current.
  • control module specifically includes: a first control submodule, configured to control the second vehicle to decelerate when the current S is safe and the v 2 ⁇ v 1 .
  • the vehicle control device in the embodiment of the present application further includes: a maximum speed limit acquisition submodule, configured to acquire the highest of the second vehicle when the S is currently > S safe , and when the v 2 ⁇ v 1 The speed limit v 2 is the highest ; the second control submodule is configured to control the second vehicle to reduce the distance from the first vehicle to the S safety when the v 2 ⁇ v 2 is the highest .
  • the vehicle control apparatus in the embodiment of the present application further includes a transmitting module that transmits its current current speed and current maximum braking capability to a predetermined range every predetermined time based on the synchronized clock of the vehicle.
  • the sending module further sends identification information of the vehicle itself.
  • the speed of the rear vehicle can be adjusted according to the situation of the following vehicle, for example, if If the current speed of the car is lower than the set maximum speed, the speed of the rear car can be increased to maintain the same speed as the preceding car, and the minimum safe distance can be recalculated according to the current speed; if the front car speed is reduced, the speed of the following vehicle can also be synchronized. Reduce the speed to the same speed as the preceding vehicle and maintain the distance at the minimum safe distance S of the current speed, so that the vehicle can maintain the speed synchronization and keep the minimum safety distance between the vehicles at the current speed, improving the road traffic efficiency. .
  • the speeds of the first vehicle and the second vehicle, the current situation of the first vehicle and the second vehicle, the maximum braking capability can be obtained; and then the front and rear vehicles are determined according to the information.
  • the minimum safety distance between the vehicles is controlled based on the minimum safety distance. Since the maximum braking capacity of the current situation of the vehicle is taken into account when calculating the minimum safety distance, the accuracy of the vehicle control is improved.
  • the embodiment of the present application further provides a control system for a vehicle in a vehicle network and a vehicle.
  • the principle of solving the problem in the system and the vehicle is similar to the method provided in the first embodiment of the present application.
  • the implementation of the system and the vehicle can be referred to the implementation of the method, and the repetition will not be repeated.
  • FIG. 3 is a schematic structural diagram of a control system of a vehicle in a vehicle network according to Embodiment 3 of the present application.
  • the vehicle control system 300 in the vehicle network shown in the third embodiment of the present application includes: at least one vehicle 301; and a control device 302, which includes a control device 200 for the vehicle in the vehicle network.
  • the vehicle 301 detects information such as the current maximum braking capacity of the vehicle, the current speed of the vehicle, the maximum speed limit and the minimum speed limit of the vehicle, and sends the information to the vehicle control device of the control device to make the vehicle control device Based on this information, the minimum safe distance between each vehicle and the preceding vehicle can be determined, and each vehicle can be controlled based on the minimum safe distance.
  • FIG. 4 is a schematic structural view of a vehicle according to Embodiment 4 of the present application.
  • the vehicle 400 shown in Embodiment 4 of the present application includes: a control device 200 for a vehicle in an Internet of Vehicles.
  • each vehicle receives information such as the current maximum braking capacity of the preceding vehicle, the current speed of the preceding vehicle, the maximum speed limit of the preceding vehicle, and the minimum speed limit, and detects the current maximum braking capacity of the vehicle, the current speed of the vehicle, The information of the maximum speed limit and the minimum speed limit of the vehicle, and based on the information, determines the minimum safety distance between the vehicle and the preceding vehicle, and controls the vehicle based on the minimum safety distance.
  • Embodiment 5 of the present invention is a control device for a vehicle, including a transceiver unit for data transceiving; a storage medium for storing a program; and a processor for executing a vehicle in the vehicle network of Embodiment 1 according to a program of the storage medium Control Method.
  • the speed of the rear vehicle can be adjusted according to the situation of the following vehicle, for example, if the current speed of the rear vehicle is low.
  • the speeds of the first vehicle and the second vehicle, the current situation and the maximum braking capability of the first vehicle and the second vehicle can be obtained; and then the minimum safety between the front and the rear vehicles is determined according to the information.
  • the distance is controlled based on the minimum safe distance. Since the maximum braking capacity of the current situation of the vehicle is taken into consideration when calculating the minimum safety distance, the accuracy of vehicle control is improved.
  • embodiments of the present application can be provided as a method, system, or computer program product.
  • the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment in combination of software and hardware.
  • the application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device. Having a series of operational steps performed on a computer or other programmable device to produce computer-implemented processing such that instructions executed on a computer or other programmable device are provided for implementing one or more processes and/or block diagrams in the flowchart. The steps of a function specified in a box or multiple boxes.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

La présente invention porte sur un procédé, sur un dispositif et sur un système de commande pour des véhicules dans l'Internet des véhicules ainsi que sur un véhicule. Le procédé consiste à : acquérir la vitesse actuelle v1 d'un premier véhicule, la capacité de freinage maximale actuelle a1 du premier véhicule, la vitesse actuelle v2 d'un second véhicule et la capacité de freinage maximale actuelle a2 du deuxième véhicule (S101), le premier véhicule étant le véhicule le plus proche du second véhicule devant le second véhicule ; déterminer une distance de sécurité minimale actuelle S de sécurité entre le second véhicule et le premier véhicule en fonction de la vitesse v1, de la capacité a1, de la vitesse v2 et de la capacité a2 (S102) ; et commander le second véhicule en fonction de la distance actuelle S actuelle et de la distance S de sécurité entre le premier véhicule et le second véhicule (S103).
PCT/CN2016/106246 2015-11-19 2016-11-17 Procédé, dispositif et système de commande pour des véhicules dans l'internet des véhicules et véhicule WO2017084601A1 (fr)

Applications Claiming Priority (2)

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CN201510802619.9A CN105355087A (zh) 2015-11-19 2015-11-19 一种车联网中车辆的控制方法、装置、系统及车辆
CN201510802619.9 2015-11-19

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