CN105774800B - 一种混合车辆队列中车辆间的碰撞缓解方法及装置 - Google Patents
一种混合车辆队列中车辆间的碰撞缓解方法及装置 Download PDFInfo
- Publication number
- CN105774800B CN105774800B CN201610182368.3A CN201610182368A CN105774800B CN 105774800 B CN105774800 B CN 105774800B CN 201610182368 A CN201610182368 A CN 201610182368A CN 105774800 B CN105774800 B CN 105774800B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- net connection
- queue
- net
- acceleration
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000001133 acceleration Effects 0.000 claims abstract description 106
- 241000736199 Paeonia Species 0.000 claims abstract description 7
- 235000006484 Paeonia officinalis Nutrition 0.000 claims abstract description 7
- 238000004891 communication Methods 0.000 claims description 47
- 230000008447 perception Effects 0.000 claims description 20
- 230000007613 environmental effect Effects 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 claims description 10
- 238000009826 distribution Methods 0.000 claims description 6
- 230000004927 fusion Effects 0.000 claims description 6
- 238000005457 optimization Methods 0.000 claims description 6
- 230000003993 interaction Effects 0.000 claims description 4
- 239000000203 mixture Substances 0.000 claims description 4
- 238000012512 characterization method Methods 0.000 claims 1
- 230000001934 delay Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 14
- 230000006870 function Effects 0.000 description 9
- 230000006855 networking Effects 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 206010039203 Road traffic accident Diseases 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 102100034112 Alkyldihydroxyacetonephosphate synthase, peroxisomal Human genes 0.000 description 1
- 101000799143 Homo sapiens Alkyldihydroxyacetonephosphate synthase, peroxisomal Proteins 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000000848 angular dependent Auger electron spectroscopy Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000005304 joining Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/162—Speed limiting therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/107—Longitudinal acceleration
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Health & Medical Sciences (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Computing Systems (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
Claims (9)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610182368.3A CN105774800B (zh) | 2016-03-28 | 2016-03-28 | 一种混合车辆队列中车辆间的碰撞缓解方法及装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610182368.3A CN105774800B (zh) | 2016-03-28 | 2016-03-28 | 一种混合车辆队列中车辆间的碰撞缓解方法及装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105774800A CN105774800A (zh) | 2016-07-20 |
CN105774800B true CN105774800B (zh) | 2018-06-26 |
Family
ID=56391022
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610182368.3A Active CN105774800B (zh) | 2016-03-28 | 2016-03-28 | 一种混合车辆队列中车辆间的碰撞缓解方法及装置 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN105774800B (zh) |
Families Citing this family (31)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6747141B2 (ja) * | 2016-07-27 | 2020-08-26 | アイシン精機株式会社 | 速度制御装置 |
US9771055B1 (en) * | 2016-11-01 | 2017-09-26 | GM Global Technology Operations LLC | Front impact mitigation system for a vehicle and method |
US10372123B2 (en) * | 2016-12-30 | 2019-08-06 | Bendix Commercial Vehicle Systems Llc | “V” shaped and wide platoon formations |
WO2018177507A1 (en) | 2017-03-28 | 2018-10-04 | Volvo Truck Corporation | A method for a string comprising a plurality of platooning vehicles |
CN107272405B (zh) * | 2017-05-26 | 2021-01-26 | 广州汽车集团股份有限公司 | 匀质车辆队列的车辆分布式控制器增益求取方法和装置 |
CN107195176A (zh) * | 2017-07-07 | 2017-09-22 | 北京汽车集团有限公司 | 用于车队的控制方法和装置 |
KR102383436B1 (ko) * | 2017-12-01 | 2022-04-07 | 현대자동차주식회사 | 군집주행 제어 장치 및 방법 |
KR20190070001A (ko) | 2017-12-12 | 2019-06-20 | 현대자동차주식회사 | 능동형 충돌 회피 제어 기반 군집 주행 제어 장치, 그를 포함한 시스템 및 그 방법 |
JP7029322B2 (ja) * | 2018-03-15 | 2022-03-03 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、及びプログラム |
CN108447266B (zh) * | 2018-05-23 | 2020-03-27 | 清华大学 | 一种智能网联汽车协同换道入队控制方法 |
CN108919799B (zh) * | 2018-06-10 | 2020-08-11 | 同济大学 | 一种网联智能车辆协作换道方法 |
CN108881282B (zh) * | 2018-07-12 | 2020-08-25 | 北京航空航天大学 | 一种基于传染病模型的汽车网络恶意信息传播方法 |
DE102018118744A1 (de) * | 2018-08-02 | 2020-02-06 | Wabco Gmbh | Verfahren zum Einstellen einer Fahrzeug-Verzögerung eines Fahrzeuges in einem Platoon sowie Platooning-Regelsystem und Fahrzeug |
CN111627247B (zh) * | 2019-02-28 | 2022-02-18 | 上海汽车集团股份有限公司 | 一种多车编队控制方法及装置 |
CN110109159B (zh) * | 2019-05-22 | 2021-06-04 | 广州小鹏汽车科技有限公司 | 行驶管理方法、装置、电子设备及存储介质 |
CN110789520B (zh) * | 2019-08-19 | 2022-07-12 | 腾讯科技(深圳)有限公司 | 行驶控制方法、装置及电子设备 |
CN110718074B (zh) * | 2019-11-06 | 2020-08-11 | 清华大学 | 混合交通交叉路口的信号灯与车辆的协同控制方法 |
DE102019132070A1 (de) * | 2019-11-27 | 2021-05-27 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Verfahren und Einrichtung zur Ermittlung einer Platoondynamik eines Fahrzeug-Platoons |
CN111081009A (zh) * | 2019-12-30 | 2020-04-28 | 吉林大学 | 一种基于车联网的车辆编队行驶***及控制方法 |
CN111137288B (zh) * | 2020-01-19 | 2021-07-20 | 江苏大学 | 一种网联条件下多车协同换道方法 |
CN112673406B (zh) * | 2020-05-29 | 2022-02-18 | 华为技术有限公司 | 一种辨识车辆列队中异常车辆参数的方法和终端设备 |
CN111703418B (zh) * | 2020-06-17 | 2022-09-16 | 湖南大学 | 一种基于车车通信的多车分布式协同避撞方法及装置 |
CN111746538B (zh) * | 2020-07-02 | 2021-09-10 | 清华大学 | 一种严格避撞的车辆队列跟驰控制方法和控制*** |
CN112224202B (zh) * | 2020-10-14 | 2021-11-23 | 南京航空航天大学 | 一种紧急工况下的多车协同避撞***及方法 |
CN112590871B (zh) * | 2020-12-23 | 2022-09-02 | 交控科技股份有限公司 | 列车安全防护方法、装置和*** |
CN112907937B (zh) * | 2021-02-03 | 2022-10-14 | 湖南大学 | 一种考虑后车信息的混合车辆队列控制方法及*** |
CN113192331B (zh) * | 2021-04-26 | 2022-04-15 | 吉林大学 | 一种网联环境下面向骑行安全的智能预警***及预警方法 |
CN113791615A (zh) * | 2021-08-20 | 2021-12-14 | 北京工业大学 | 一种混合车辆队列分布式模型预测控制方法 |
CN113795010B (zh) * | 2021-08-24 | 2023-04-07 | 清华大学 | 一种汽车队列的测试方法、装置、电子设备及其存储介质 |
CN114566038B (zh) * | 2022-02-28 | 2023-10-24 | 长安大学 | 一种面向网联货运车队的车路协同多级预警***及方法 |
CN114771512B (zh) * | 2022-05-17 | 2023-03-21 | 厦门金龙联合汽车工业有限公司 | 一种车辆编队防碰撞控制方法 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3533269B2 (ja) * | 1995-08-25 | 2004-05-31 | 光洋精工株式会社 | 車両の位置検知システム |
JP2000113400A (ja) * | 1998-09-30 | 2000-04-21 | Honda Motor Co Ltd | 自動追従走行システム |
CN102616235B (zh) * | 2012-04-09 | 2016-01-20 | 北京航空航天大学 | 一种基于车车通信的协同避撞装置及避撞方法 |
WO2014011545A1 (en) * | 2012-07-09 | 2014-01-16 | Elwha Llc | Systems and methods for cooperative collision detection |
CN103395419B (zh) * | 2013-08-22 | 2016-02-24 | 贵州大学 | 基于安全间距策略的车辆队列行驶控制***及其控制方法 |
CN104325978A (zh) * | 2014-10-21 | 2015-02-04 | 中国科学技术大学苏州研究院 | 一种基于车联网的安全防碰撞预警方法 |
CN104361760B (zh) * | 2014-11-24 | 2017-12-01 | 中国科学技术大学苏州研究院 | 一种基于车联网的紧急刹车智能控制方法 |
CN105313891B (zh) * | 2015-10-22 | 2017-08-11 | 清华大学 | 一种多车协同避撞方法及装置 |
-
2016
- 2016-03-28 CN CN201610182368.3A patent/CN105774800B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
CN105774800A (zh) | 2016-07-20 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN105774800B (zh) | 一种混合车辆队列中车辆间的碰撞缓解方法及装置 | |
CN109035862B (zh) | 一种基于车车通信的多车协同换道控制方法 | |
CN105139677B (zh) | 基于车路协同的无控交叉口车辆通行引导***及其引导方法 | |
CN105313891B (zh) | 一种多车协同避撞方法及装置 | |
CN106601002B (zh) | 车联网环境下的入口匝道车辆通行引导***及其引导方法 | |
CN107248276B (zh) | 一种基于车路协同的智能网联汽车编队控制方法及装置 | |
CN108495330B (zh) | 一种车-车信息交互通信的碰撞预警可靠性测试方法 | |
CN107993485B (zh) | 一种基于车联网的自适应预警方法以及装置 | |
CN109979217A (zh) | 合作式交叉路口通行控制方法、装置及设备 | |
CN109979239A (zh) | 违规车辆提醒方法、装置及设备 | |
JP2023164809A (ja) | 車両の質量推定を使用するアプリケーション | |
CN109987093A (zh) | 合作式变道控制方法、装置及设备 | |
CN109979238A (zh) | 车道内障碍物提醒方法、装置及设备 | |
CN107798861A (zh) | 一种车辆协作式编队行驶方法及*** | |
CN110085037A (zh) | 一种车路协同环境下交叉口信号控制及车速引导*** | |
CN108011947A (zh) | 一种车辆协作式编队行驶*** | |
CN109074730A (zh) | 车辆控制***、车辆控制方法及车辆控制程序 | |
CN103359110B (zh) | 电动汽车行驶辅助*** | |
CN108885826A (zh) | 车辆控制***、车辆控制方法及车辆控制程序 | |
CN108806291B (zh) | 基于路侧设备的高饱和度匝道车辆汇入引导方法与*** | |
CN101689330B (zh) | 行驶轨迹生成方法以及行驶轨迹生成装置 | |
DE112016003156T5 (de) | Fahrzeugsteuerungsvorrichtung; Fahrzeugsteuerungsverfahren und Fahrzeugsteuerungsprogramm | |
CN108698592A (zh) | 车辆控制***、车辆控制方法及车辆控制程序 | |
CN109823339A (zh) | 车辆红绿灯路口通行控制方法以及控制*** | |
CN103303143B (zh) | 高速公路限速***及方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
CB03 | Change of inventor or designer information |
Inventor after: Hu Manjiang Inventor after: Wang Jianqiang Inventor after: Li Keqiang Inventor after: Xu Cheng Inventor after: Xu Biao Inventor after: Li Shengbo Inventor after: Bian Yougang Inventor after: Qin Xiaohui Inventor after: Wang Lei Inventor before: Hu Manjiang Inventor before: Wang Jianqiang Inventor before: Li Keqiang Inventor before: Xu Cheng Inventor before: Xu Biao Inventor before: Li Shengbo Inventor before: Bian Yougang Inventor before: Qin Xiaohui |
|
COR | Change of bibliographic data | ||
GR01 | Patent grant | ||
GR01 | Patent grant |