CN106994969A - A kind of fleet's formation control loop and method - Google Patents
A kind of fleet's formation control loop and method Download PDFInfo
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- CN106994969A CN106994969A CN201710184207.2A CN201710184207A CN106994969A CN 106994969 A CN106994969 A CN 106994969A CN 201710184207 A CN201710184207 A CN 201710184207A CN 106994969 A CN106994969 A CN 106994969A
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- 230000015572 biosynthetic process Effects 0.000 title claims abstract description 23
- 238000012360 testing method Methods 0.000 claims abstract description 50
- 238000004891 communication Methods 0.000 claims abstract description 36
- 230000008859 change Effects 0.000 claims description 74
- 230000008569 process Effects 0.000 claims description 21
- 230000002708 enhancing effect Effects 0.000 claims description 15
- 230000006872 improvement Effects 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 6
- 241000208340 Araliaceae Species 0.000 claims 1
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- 206010039203 Road traffic accident Diseases 0.000 abstract description 9
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Classifications
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- 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
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
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- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of fleet's formation control loop and method, belong to automotive field.The present invention is by being respectively provided with location division, communication unit, adjacent lane test section and automatic Pilot control unit in each car, automatic Pilot control unit controls each with being located at its front and vehicle adjacent thereto traveling in the automatic following fleet of car as the case may be, so that at least in two cars in addition to first bus is by pilot steering, each can follow first bus automatic running with car, without driver's pilot steering, reduce the probability because of driver tired driving or operational error initiation traffic accident, the security of fleet's trip is improved, and saves manpower.
Description
Technical field
The present invention relates to automotive field, more particularly to a kind of fleet's formation control loop and method.
Background technology
With the development of science and technology with the raising of living standards of the people, automobile has turned into the friendship that it is essential that the mankind go on a journey
Logical instrument, meanwhile, the security in vehicle traveling process also becomes whole mankind's focus of attention problem.
According to statistics, in traffic accident in recent years, the traffic accident triggered due to driver tired driving or operational error
More than the 60% of all traffic accidents is accounted for, the security of the lives and property of people has been had a strong impact on, therefore be badly in need of a kind of automatic Pilot skill
Art, reduction triggers the probability of traffic accident because of driver tired driving or operational error.
The content of the invention
In order to solve to be badly in need of in the prior art a kind of automatic Pilot technology, to reduce because of driver tired driving or operation mistake
The problem of triggering the probability of traffic accident by mistake, the embodiments of the invention provide a kind of fleet's formation control loop and method.Institute
State technical scheme as follows：
First aspect includes at least two cars travelled of forming into columns there is provided a kind of fleet's formation control loop, the system,
Location division, communication unit, adjacent lane test section and automatic Pilot control are mounted in each car at least two cars
Portion；
Location division in each car is used to position it；
Communication unit in each car is connected with its location division, and with positioned at its front and back and car adjacent thereto
Communication unit communication connection, the communication unit in each car is used for the communication positioned at its rear and vehicle adjacent thereto
Portion sends its positional information, and receives the positional information for being located at its front and vehicle adjacent thereto；
The adjacent lane test section of each car is arranged on its left and right sides, the adjacent car in track where for detecting it
Whether vehicle process is had in preset range on road；
The automatic Pilot control unit of each car is connected with its location division, communication unit and adjacent lane test section respectively；
Vehicle at least two cars formation transport condition, at least two cars positioned at forefront is first bus, by
Pilot steering, other vehicles are each each positional information with car according to the automatic Pilot control unit on car with car
And it is located at the positional information of its front and vehicle adjacent thereto in fleet, judge to be located at its front in fleet and adjacent thereto
Vehicle whether lane change, and according to be located in fleet each with front side and the vehicle adjacent with car with this whether lane change, control
This is made with being located at this with front side positioned at its front and vehicle traveling adjacent thereto, or in fleet in car following fleet
And when not having other vehicles to pass through in the preset range on the track where the vehicle adjacent with car with this, this is controlled with car
Be located in following fleet this be located at front side and after the vehicle lane change adjacent with car with this, in following fleet its front and
Vehicle traveling adjacent thereto.
Further, spacing test section is additionally provided with each car, the spacing test section is arranged on each car
Front portion, for detecting each car and longitudinal spacing positioned at its front and vehicle adjacent thereto, longitudinal spacing
For distance of the two cars on parallel to lane line direction.
Specifically, the spacing test section is millimetre-wave radar.
Specifically, the spacing test section of each car is separately positioned on the top of its windshield glass.
Specifically, the adjacent lane test section is ultrasonic radar.
Further, be additionally provided with lane detection portion in each car, it is described each with car lane detection part
Its left and right sides is not arranged on, and is connected with its automatic Pilot control unit, the track line position in track, institute where for detecting it
Each track line position with automatic Pilot control unit track according to where its positional information and its of car is stated, control is described every
With car along the track center line traveling.
Second aspect is there is provided a kind of fleet's formation drive manner, and methods described is applied to fleet formation and drives system
System, methods described includes：
Step 1：At least two cars are formed into columns, wherein, at least first bus in two cars by pilot steering, other vehicles be with
Car；
Step 2：The location division of each car obtains its positional information respectively, and each is received in fleet respectively with the communication unit of car
Sent positioned at its front and the positional information of vehicle adjacent thereto, and into fleet positioned at square thereafter and adjacent thereto vehicle
Its positional information, each detected with the adjacent lane test section of car in preset range on the adjacent lane in track where it whether
There is vehicle process；
Step 3：Each with the automatic Pilot control unit on car according in its positional information and fleet be located at its front and
The positional information of vehicle adjacent thereto, judge in fleet be located at its front and vehicle adjacent thereto whether lane change, and according to
In fleet be located at its front and vehicle adjacent thereto whether lane change, control this with car following fleet be located at its in front of and with
Adjacent vehicle traveling, or be located in fleet on track of this with front side and where the vehicle adjacent with car with this
Preset range in when there is no other vehicles to pass through, control this with car following fleet positioned at this with front side and with this
It is located at its front with car after adjacent vehicle lane change, in following fleet and vehicle traveling adjacent thereto.
Specifically, described each is located at before it with the automatic Pilot control unit on car according in its positional information and fleet
The positional information of square and adjacent thereto vehicle, judge in fleet be located at its front and vehicle adjacent thereto whether lane change, bag
Include：
Described each obtains its positional information with the automatic Pilot control unit on car by its location division, passes through its communication unit
The positional information for being located at its front and vehicle adjacent thereto in fleet is obtained, and is located at it according in its positional information and fleet
Front and the positional information of vehicle adjacent thereto, obtain it is described each with being located at its front in car and fleet and adjacent thereto
The horizontal spacing of vehicle, the horizontal spacing is two cars in the distance on lane line direction；
It is described each with the automatic Pilot control unit on car by compare its with fleet be located at its front and it is adjacent thereto
Vehicle horizontal spacing and 1/2nd size of lane width, judge in fleet be located at its front and car adjacent thereto
Whether lane change.
Specifically, it is described according to be located in fleet its front and vehicle adjacent thereto whether lane change, control this with car
Be located at its front and vehicle adjacent thereto traveling in following fleet, or be located in fleet this with front side and with this with
When not having other vehicles to pass through in the preset range on track where the adjacent vehicle of car, this is controlled with car following fleet
It is located at its front positioned at this with front side and after the vehicle lane change adjacent with car with this, in following fleet and adjacent thereto
Vehicle is travelled, including：
If certain the automatic Pilot control unit with car judges to be located at its front and the non-lane change of vehicle adjacent thereto in fleet,
Then this with the automatic Pilot portion of car according to being located at its front and the position of vehicle adjacent thereto in its positional information and fleet
Information, controls to be located at its front in its following fleet and vehicle traveling adjacent thereto；
If certain the automatic Pilot control unit with car judges to be located at its front and vehicle lane change adjacent thereto in fleet,
The pre- of track rear where being located at its front and vehicle adjacent thereto in the fleet is detected by its adjacent lane test section
If whether there is vehicle process in scope；
If being located at this in the fleet with front side and the preset range at vehicle place track rear adjacent thereto
There is no vehicle process, then this is controlled after its lane change with the automatic Pilot control unit of car, in following fleet be located at its front and with
Adjacent vehicle traveling；
If being located at this in the fleet with front side and the preset range at vehicle place track rear adjacent thereto
There is vehicle process, then this controls its Reduced Speed Now with the automatic Pilot control unit of car, and passes through its adjacent lane test section weight
Newly detect where being located at its front and vehicle adjacent thereto in the fleet whether there is vehicle in the preset range at track rear
By until being located at this in the fleet with not having where front side and vehicle adjacent thereto in the preset range at track rear
When having the vehicle to pass through, after this controls this with car lane change again with the automatic Pilot control unit of car, it is located in following fleet before it
Square and adjacent thereto vehicle traveling.
Further, methods described also includes：
Set different enhancing signal algorithms for different Driving Scenes, according to it is described each with the reality in car driving procedure
Border parameter calculates enhancing signal, and calculates each enhancing signal and the absolute value of the difference of targets improvement signal, believes according to enhancing
Number optimize driving strategy with the direction that the absolute value of the difference of targets improvement signal reduces.
The beneficial effect that technical scheme provided in an embodiment of the present invention is brought is：
The present invention by being respectively provided with location division, communication unit, adjacent lane test section and automatic Pilot control unit in each car,
Automatic Pilot control unit controls each with being located at its front and car adjacent thereto in the automatic following fleet of car as the case may be
Traveling so that at least in two cars in addition to first bus is by pilot steering, each can follow first bus automatic running with car, without driving
The person's of sailing pilot steering, reduces the probability because of driver tired driving or operational error initiation traffic accident, improves fleet's trip
Security, and save manpower.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, makes required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is the structural representation for the automobile formation control loop that one embodiment of the invention is provided；
Fig. 2 is the structural representation for the automobile formation control loop that further embodiment of this invention is provided；
Fig. 3 is the structural representation for the automobile formation control loop that further embodiment of this invention is provided；
Fig. 4 is the flow chart for the automobile formation drive manner that further embodiment of this invention is provided；
Fig. 5 is the flow chart for the automobile formation drive manner that further embodiment of this invention is provided.
Wherein：
1 first bus,
2 with car,
3 import vehicle,
4 spacing test sections,
5 lane lines,
10 fleets.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is described in further detail.
Embodiment one
As shown in figure 1, can also be illustrated with reference to Fig. 2 and Fig. 3, form into columns and drive the embodiments of the invention provide a kind of fleet
System, is mainly used in the straight way of highway and fleet's trip in approximate straight way section, and the system includes forming into columns traveling extremely
Location division (not shown), communication unit are mounted in each car in few two cars, at least two cars (in figure not show
Go out), adjacent lane test section (not shown) and automatic Pilot control unit (not shown)；
Location division in each car is used to position it；
Communication unit in each car is connected with its location division, and with positioned at its front and back and car adjacent thereto
Communication unit communication connection, the communication unit in each car is used for the communication positioned at its rear and vehicle adjacent thereto
Portion sends its positional information, and receives the positional information for being located at its front and vehicle adjacent thereto；
The adjacent lane test section of each car is arranged on its left and right sides, the adjacent car in track where for detecting it
Whether vehicle process is had in preset range on road；
The automatic Pilot control unit of each car is connected with its location division, communication unit and adjacent lane test section respectively；
Vehicle at least two cars formation transport condition, at least two cars positioned at forefront is first bus 1, by
Pilot steering, other vehicles are that, with car 2, each believes with the automatic Pilot control unit on car 2 according to described each with the position of car 2
Be located at the positional information of its front and vehicle adjacent thereto in breath and fleet 10, judge in fleet 10 to be located in front of it and with
Adjacent vehicle whether lane change, and be according to each is located in fleet 10 with the front of car 2 and the vehicle adjacent with car 2 with this
No lane change, controls this with being located in the following fleet of car 2 positioned at its front and vehicle traveling adjacent thereto, or in fleet 10
This in the preset range on the track where the front of car 2 and the vehicle adjacent with car 2 with this with not having other vehicles process
When, after controlling this with being located at this in the following fleet 10 of car 2 with the front of car 2 and the vehicle lane change adjacent with car 2 with this, with
With being located at its front and vehicle adjacent thereto traveling in fleet 10.
In embodiments of the present invention, at least two cars form into columns traveling, at least first car in two cars by pilot steering,
For first bus 1, other vehicles follow first bus 1 to travel automatically, for car 2.
During traveling, the location division of each car obtains its positional information respectively, and each is received respectively with the communication unit of car 2
It is located at the positional information of its front and vehicle adjacent thereto in fleet 10, and into fleet 10 positioned at square thereafter and adjacent thereto
Vehicle send its positional information；It is pre- on the adjacent lane in track where each detects it with the adjacent lane test section of car 2
If whether there is vehicle process in scope；Each obtains its positional information with the automatic Pilot control unit on car 2 by its location division,
The positional information for being located at its front and vehicle adjacent thereto in fleet 10 is obtained by its communication unit, and according to its positional information
Positional information with being located at its front and vehicle adjacent thereto in fleet 10, obtains each with being located at it in car 2 and fleet 10
Front and the horizontal spacing Δ x of vehicle adjacent thereto, and each with the automatic Pilot control unit on car 2 by compare each with
Car 2 be located in fleet 10 its front and vehicle adjacent thereto horizontal spacing Δ x and lane width 1/2nd it is big
It is small, judge to be located in fleet 10 each with the front of car 2 and vehicle adjacent thereto whether lane change.
With reference to Fig. 1, if certain the automatic Pilot control unit with car 2 judges to be located at its front in fleet 10 and adjacent thereto
The non-lane change of vehicle, then this with car 2 automatic Pilot portion according to its positional information and its with positioned at its front and it is adjacent thereto
Distance of the vehicle on parallel to the direction of lane line 5, control each with the automatic following fleet 10 of car 2 be located at its front and therewith
Adjacent vehicle traveling.
With reference to Fig. 2, if certain the automatic Pilot control unit with car 2 judges to be located at its front in fleet 10 and adjacent thereto
Vehicle lane change, and its adjacent lane test section detected behind track where being located at its front and vehicle adjacent thereto in fleet 10
Side preset range in there is no vehicle process, then this with the automatic Pilot control unit of car 2 according to its positional information and fleet 10
In be located at the positional information of its front and vehicle adjacent thereto, control this with the lane change of car 2 followed by fleet 10 positioned at it
Front and vehicle traveling adjacent thereto.
With reference to Fig. 3, if certain the automatic Pilot control unit with car 2 judges to be located at its front in fleet 10 and adjacent thereto
Vehicle lane change, and its adjacent lane test section detected behind track where being located at its front and vehicle adjacent thereto in fleet 10
There is vehicle process in the preset range of side, then this controls this with the Reduced Speed Now of car 2 with the automatic Pilot control unit of car 2, and
It is being located at the default of track rear in front of it and where vehicle adjacent thereto during its adjacent lane test section detects fleet 10
In the range of when there is no the vehicle to pass through, control this with the lane change of car 2 followed by being located at its front and car adjacent thereto in fleet 10
Traveling.
Wherein, each with the automatic Pilot control unit on car 2 by comparing each with being located at its front in car 2 and fleet 10
And the horizontal spacing Δ x and 1/2nd size of lane width of vehicle adjacent thereto, judge to be located at each in fleet 10
With the front of car 2 and vehicle adjacent thereto whether lane change, be specially：
If certain is more than track with being located at the horizontal spacing Δ x in its front and vehicle adjacent thereto in car 2 and fleet 10
/ 2nd of width, then this with the automatic Pilot control unit of car 2 judge in fleet 10 be located at its front and it is adjacent thereto
Vehicle lane change；
If certain is less than track with being located at the horizontal spacing Δ x in its front and vehicle adjacent thereto in car 2 and fleet 10
/ 2nd of width, then this with the automatic Pilot control unit of car 2 judge in fleet 10 be located at its front and it is adjacent thereto
The non-lane change of vehicle.
The present invention by being respectively provided with location division, communication unit, adjacent lane test section and automatic Pilot control unit in each car,
Automatic Pilot control unit controls each in front of it and adjacent thereto with being located in the automatic following fleet 10 of car 2 as the case may be
Vehicle is travelled so that at least in two cars in addition to first bus 1 is by pilot steering, each can follow the automatic running of first bus 1 with car 2,
Without driver's pilot steering, the probability because of driver tired driving or operational error initiation traffic accident is reduced, fleet is improved
The security of 10 trips, and save manpower.
As shown in figure 1, also can be found in Fig. 2 and Fig. 3, in embodiments of the present invention, spacing inspection is additionally provided with each car
Survey portion 4, the spacing test section 4 is arranged on the front portion of each car, for detect each car with positioned at its front and
Longitudinal spacing Δ y of vehicle adjacent thereto, longitudinal spacing Δ y be two cars on parallel to the direction of lane line 5 away from
From.
In embodiments of the present invention, when have other vehicles import fleet 10 in when, because import vehicle 3 can not with fleet 10
Vehicle carry out truck traffic, therefore by setting spacing test section 4 in each car, when there is vehicle to import in fleet 10, lead to
Crossing the spacing test section 4 in each car detects it importing longitudinal spacing Δ y between vehicle 3, it is ensured that each is with car 2 with being located at
Longitudinal spacing Δ y and target carriage between its front and vehicle adjacent thereto away from the distance between be less than default value.
In embodiments of the present invention, spacing test section 4 is millimetre-wave radar.As shown in figure 1, Fig. 2 is also can be found in, in this hair
In bright embodiment, the spacing test section in each car is arranged on the top of its windshield glass.
In embodiments of the present invention, set millimetre-wave radar to measure by the top of the windshield glass in each car to import
It is located at the rear of remittance vehicle 3 and longitudinal spacing Δ y adjacent thereto between car 2 in vehicle 3 and fleet 10, it is ensured that fleet
Longitudinal spacing Δ y between vehicle and remittance vehicle in 10 is adapted to.
And in embodiments of the present invention, adjacent lane test section is ultrasonic radar, and adjacent lane can be detected
Scope is wider.
In embodiments of the present invention, it is preferable that the test section of lane line 5 is additionally provided with each car, each lane line with car 2
5 test sections are separately positioned on its left and right sides, and are connected with its automatic Pilot control unit, the track in track where for detecting it
The position of line 5, each is controlled with the position of lane line 5 in automatic Pilot control unit track according to where its positional information and its of car 2
Make each center line traveling with car 2 along track.
Each two lane line 5 with the track where car 2 is detected by the test section of lane line 5, and each with car 2 from
Dynamic drive control section controls its center line along track travel according to the position of lane line 5 and its position, it is to avoid with the traveling process of car 2
In offset to other tracks so that be located at vehicle square thereafter in fleet 10 and be mistaken for the lane change of first bus 1 and follow its lane change, and
Avoid colliding with the vehicle on other tracks because offseting to other tracks with car 2.
Embodiment two
As shown in figure 4, the embodiments of the invention provide a kind of fleet's formation drive manner, methods described is applied to as implemented
Fleet's formation control loop described in example one, this method includes：
In step 201, at least two cars are formed into columns, wherein, at least the first bus in two cars is by pilot steering, other vehicles
For with car.
In embodiments of the present invention, after the completion of at least two cars are formed into columns, the relative ranks of any two cars during traveling
No longer change, to ensure the order of automatic Pilot.
In step 202., the location division of each car obtains its positional information respectively, and each is received respectively with the communication unit of car
It is located at the positional information of its front and vehicle adjacent thereto in fleet, and into fleet positioned at square thereafter and adjacent thereto car
Its positional information is sent, the preset range where each detects it with the adjacent lane test section of car on the adjacent lane in track
Inside whether there is vehicle process.
In embodiments of the present invention, the location division of each car is gps system, and communication unit is truck traffic system, car
It is millimetre-wave radar away from test section, lane detecting portion is ultrasonic radar.
In step 203, each is located at it with the automatic Pilot control unit on car according in its positional information and fleet
Front and the positional information of vehicle adjacent thereto, judge in fleet be located at its front and vehicle adjacent thereto whether lane change,
And according to be located in fleet its front and vehicle adjacent thereto whether lane change, control this with car following fleet before it
Square and adjacent thereto vehicle traveling, or it is located in fleet this with front side and where the vehicle adjacent with car with this
When there is no other vehicles to pass through in the preset range on track, control this with car following fleet positioned at this with front side and
It is located at its front after the vehicle lane change adjacent with car with this, in following fleet and vehicle traveling adjacent thereto.
The present invention by being respectively provided with location division, communication unit, adjacent lane test section and automatic Pilot control unit in each car,
Automatic Pilot control unit controls each with being located at its front and car adjacent thereto in the automatic following fleet of car as the case may be
Traveling so that at least in two cars in addition to first bus is by pilot steering, each can follow first bus automatic running with car, without driving
The person's of sailing pilot steering, reduces the probability because of driver tired driving or operational error initiation traffic accident, improves fleet's trip
Security, and save manpower.
Embodiment three
As shown in figure 5, the embodiments of the invention provide a kind of fleet's formation drive manner, this method is applied to such as embodiment
Fleet's formation control loop described in one, it includes：
In step 301, at least two cars are formed into columns.
In embodiments of the present invention, after the completion of at least two cars are formed into columns, the relative ranks of any two cars during traveling
No longer change, to ensure the order of automatic Pilot.
In step 302, the location division of each car obtains its positional information respectively, and each is received respectively with the communication unit of car
It is located at the positional information of its front and vehicle adjacent thereto in fleet, and into fleet positioned at square thereafter and adjacent thereto car
Its positional information is sent, the preset range where each detects it with the adjacent lane test section of car on the adjacent lane in track
Inside whether there is vehicle process.
In embodiments of the present invention, the location division of each car is gps system, and communication unit is truck traffic system, car
It is millimetre-wave radar away from test section, lane detecting portion is ultrasonic radar.
With in car according to one below with being located in car following fleet before it and a car adjacent thereto is principle, keep away
Exempt from the system when running into road with certain curvature and judge error occur, so when driving, after each car is positioned respectively,
Its positional information is sent in fleet by vehicle above is located at vehicle square thereafter, to allow the automatic Pilot control with car below
Portion processed controls it to follow vehicle above to travel automatically according to the relative position of two cars.
In step 303, described each obtains its positional information with the automatic Pilot control unit on car by its location division,
Obtain the positional information for being located at its front and vehicle adjacent thereto in fleet by its communication unit, and according to its positional information with
It is located at the positional information of its front and vehicle adjacent thereto in fleet, obtains it in front of it and adjacent thereto with being located in fleet
Vehicle horizontal spacing, the horizontal spacing be two cars in the distance on lane line direction.
In embodiments of the present invention, when fleet travel on highway straight way or approximate straight way section when, fleet
Substantially travel on the center in track, namely each horizontal car with being located at its front and vehicle adjacent thereto in car and fleet
Away from smaller, when the horizontal spacing reaches certain numerical value, it was demonstrated that the vehicle lane change positioned at front.
In step 304, it is described each with the automatic Pilot control unit on car by compare its with fleet be located at its before
The horizontal spacing of square and adjacent thereto vehicle and 1/2nd size of lane width, judge in fleet be located at its front and
Vehicle adjacent thereto whether lane change.
In embodiments of the present invention, due to the lane width substantial constant on highway, thus each with car from
Dynamic drive control section can be wide with being located at its front and the horizontal spacing of vehicle adjacent thereto and track in fleet by comparing it
/ 2nd size of degree, judge in fleet positioned at this with front side and vehicle adjacent thereto whether lane change, wherein, if
Certain is more than 1/2nd of lane width with being located at the horizontal spacing in its front and vehicle adjacent thereto in car and fleet, then
This judges to be located at its front and vehicle lane change adjacent thereto in fleet with the automatic Pilot control unit of car；If certain with car with
The horizontal spacing for being located at its front and vehicle adjacent thereto in fleet is less than 1/2nd of lane width, then this is with car
Automatic Pilot control unit judges to be located at its front and the non-lane change of vehicle adjacent thereto in fleet.
In embodiments of the present invention, if certain the automatic Pilot control unit with car judge in fleet be located at its front and therewith
The non-lane change of adjacent vehicle, then into step 305；If certain the automatic Pilot control unit with car judges to be located at its front in fleet
And vehicle lane change adjacent thereto, then into step 306.
In step 305, each with the automatic Pilot control unit of car control in its following fleet be located at its front and therewith
Adjacent vehicle traveling.
In embodiments of the present invention, it is preferable that be located at its front and car adjacent thereto in each is with car following fleet
During traveling, it is preferable that each longitudinal spacing with car and between its front and vehicle adjacent thereto and target carriage away from
Between poor absolute value be less than default value.
Within step 306, last lane change rear view of vehicle and phase adjacent thereto with car in fleet are passed through
Whether described last of adjacent lane detecting portion detection has vehicle process where lane change vehicle in the preset range at track rear,
If not there is vehicle process, into step 307, enter step 308 if if there is vehicle.
In step 307, last lane change rear view of vehicle and adjacent thereto having driven with the automatic of car in fleet
Sail control unit control its lane change followed by this last lane change vehicle travel.
In step 308, last lane change rear view of vehicle and adjacent thereto having driven with the automatic of car in fleet
Sail control unit and control its Reduced Speed Now, and last described lane change car is detected by the detection of its adjacent lane test section again
Whether there is vehicle process in the preset range at track rear where, the track rear where last lane change vehicle
When no vehicle passes through in preset range, the lane change rear view of vehicle and adjacent thereto with car of last in fleet should be located at
Automatic Pilot control unit control again its lane change followed by this last lane change vehicle travel.
If certain the automatic Pilot control unit with car judges to be located at its front and vehicle lane change adjacent thereto in fleet, and
Its adjacent lane test section, which is detected, is located at the default of in front of it and vehicle adjacent thereto place track rear in the fleet
In the range of when thering is the vehicle to pass through, to avoid this with being collided during car lane change with other vehicles, other vehicles need to be allowed first
OK.
In embodiments of the present invention, to enable to drive safely with car, during being travelled with car, different driver training grounds can be directed to
Scape sets different enhancing signal algorithms, calculates enhancing signal with the actual parameter in car driving procedure according to each, and calculate
The difference of each enhancing signal and targets improvement signal, the direction reduced according to the difference of enhancing signal and targets improvement signal is excellent
Change driving strategy.Such as：
Referring to Fig. 2, when certain the automatic Pilot control unit with car judges to be located at its front and car adjacent thereto in fleet
Lane change, and its adjacent lane test section detected behind track where being located at its front and vehicle adjacent thereto in the fleet
There is no vehicle process in the preset range of side, when this travels with car lane change, enhancing signal can be counted according to equation below (1)
Calculate：
In formula (1), r for enhancing signal, θ be this with before car lane change with fleet be located at its in front of and it is adjacent thereto
Vehicle line and the angle of lane line, or this with before car lane change with fleet be located at its front and vehicle adjacent thereto
The line and the angle of lane line for other vehicles that rear is imported, Δ y be this with being located in car and fleet in front of it and therewith
Longitudinal spacing of adjacent vehicle, or this are located at the car that its front and rear view of vehicle adjacent thereto are imported with car and car centering
Longitudinal spacing, l be target carriage away from.
From formula (1), the numerical value of targets improvement signal more levels off to -2 for -2, r numerical value, shows that this exists with car
Need the angle turned over smaller during lane change, more connect with longitudinal spacing positioned at its front and vehicle adjacent thereto during lane change
Close-target spacing, drives a vehicle safer, and r runs into phase closest to driving strategy when -2 in next time in system record driving procedure
With Driving Scene when, the driving strategy is further optimized, with the driving strategy optimized.
The embodiments of the present invention are for illustration only, and the quality of embodiment is not represented.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (10)
1. a kind of fleet's formation control loop, it is characterised in that the system includes forming into columns at least two cars of traveling, it is described extremely
Location division, communication unit, adjacent lane test section and automatic Pilot control unit are mounted in each car in few two cars；
Location division in each car is used to position it；
Communication unit in each car is connected with its location division, and with positioned at its front and back and vehicle adjacent thereto
Communication unit in communication unit communication connection, each car is used for the communication unit hair positioned at its rear and vehicle adjacent thereto
Its positional information is given, and receives the positional information for being located at its front and vehicle adjacent thereto；
The adjacent lane test section of each car is arranged on its left and right sides, the adjacent lane in track where for detecting it
Preset range in whether have vehicle process；
The automatic Pilot control unit of each car is connected with its location division, communication unit and adjacent lane test section respectively；
Vehicle at least two cars formation transport condition, at least two cars positioned at forefront is first bus, by artificial
Drive, other vehicles be with car, each with the automatic Pilot control unit on car according to each with car positional information and
It is located at the positional information of its front and vehicle adjacent thereto in fleet, judges to be located at its front and car adjacent thereto in fleet
Whether lane change, and according to be located in fleet each with front side and the vehicle adjacent with car with this whether lane change, control should
With being located at its front and vehicle adjacent thereto traveling in car following fleet, or be located in fleet this with front side and with
When not having other vehicles to pass through in the preset range on track where this vehicle adjacent with car, this is controlled to be followed with car
It is located at this in fleet and is located at its front and therewith with front side and after the vehicle lane change adjacent with car with this, in following fleet
Adjacent vehicle traveling.
2. system according to claim 1, it is characterised in that spacing test section, the car are additionally provided with each car
The front portion of each car is arranged on away from test section, for detecting each car with being located at its front and vehicle adjacent thereto
Longitudinal spacing, longitudinal spacing be distance of the two cars on parallel to lane line direction.
3. system according to claim 2, it is characterised in that the spacing test section is millimetre-wave radar.
4. system according to claim 3, it is characterised in that the spacing test section of each car is separately positioned on before it
The top of windshield.
5. system according to claim 1, it is characterised in that the adjacent lane test section is ultrasonic radar.
6. system according to claim 1, it is characterised in that lane detection portion is additionally provided with each car, described
Each is separately positioned on its left and right sides with the lane detection portion of car, and is connected with its automatic Pilot control unit, for detecting
The track line position in track where it, it is described each with car automatic Pilot control unit according to where its positional information and its car
The track line position in road, each described center line traveling with car along the track of control.
7. a kind of fleet's formation drive manner, it is characterised in that methods described is applied to any one of claim 1-6 right such as will
Described fleet's formation control loop is sought, methods described includes：
Step 1：At least two cars are formed into columns, wherein, at least first bus in two cars is by pilot steering, and other vehicles are with car；
Step 2：The location division of each car obtains its positional information respectively, and each is received in fleet respectively with the communication unit of car is located at
Its front and the positional information of vehicle adjacent thereto, and send its position positioned at square thereafter and adjacent thereto vehicle into fleet
Confidence ceases, and whether has car in the preset range where each detects it with the adjacent lane test section of car on the adjacent lane in track
Pass through；
Step 3：Each with the automatic Pilot control unit on car according in its positional information and fleet be located at its front and therewith
The positional information of adjacent vehicle, judge to be located in fleet its front and vehicle adjacent thereto whether lane change, and according to fleet
In be located at its front and vehicle adjacent thereto whether lane change, control this in car following fleet with being located in front of it and phase therewith
Adjacent vehicle traveling, or be located in fleet pre- on track of this with front side and where the vehicle adjacent with car with this
If there is no other vehicles to pass through in scope, control this with car following fleet positioned at this with front side and with this with car
It is located at its front after adjacent vehicle lane change, in following fleet and vehicle traveling adjacent thereto.
8. method according to claim 7, it is characterised in that it is described each with the automatic Pilot control unit on car according to it
Be located at the positional information of its front and vehicle adjacent thereto in positional information and fleet, judge in fleet to be located in front of it and
Vehicle adjacent thereto whether lane change, including：
Described each obtains its positional information with the automatic Pilot control unit on car by its location division, is obtained by its communication unit
It is located at the positional information of its front and vehicle adjacent thereto in fleet, and is located at according in its positional information and fleet in front of its
And the positional information of vehicle adjacent thereto, obtain it is described each with being located at its front and vehicle adjacent thereto in car and fleet
Horizontal spacing, the horizontal spacing be two cars in the distance on lane line direction；
It is described each with the automatic Pilot control unit on car by compare its with fleet be located at its front and car adjacent thereto
Horizontal spacing and lane width 1/2nd size, judge in fleet be located at its front and vehicle adjacent thereto be
No lane change.
9. method according to claim 7, it is characterised in that described in front of it and adjacent thereto according to being located in fleet
Vehicle whether lane change, control this with being located at its front and vehicle adjacent thereto traveling in car following fleet, or in fleet
There is no other vehicles warp in the preset range on track positioned at this with front side and where the vehicle adjacent with car with this
It is out-of-date, control this with being located at this in car following fleet with front side and after the vehicle lane change adjacent with car with this, follow
It is located at its front in fleet and vehicle traveling adjacent thereto, including：
If certain the automatic Pilot control unit with car judges to be located at its front and the non-lane change of vehicle adjacent thereto in fleet, should
With car automatic Pilot portion according to the positional information for being located at its front and vehicle adjacent thereto in its positional information and fleet,
Control to be located at its front in its following fleet and vehicle traveling adjacent thereto；
If certain the automatic Pilot control unit with car judges to be located at its front and vehicle lane change adjacent thereto in fleet, pass through
Its adjacent lane test section, which is detected, is located at its front and the default model at vehicle place track rear adjacent thereto in the fleet
Whether there is vehicle process in enclosing；
If being located at this in the fleet with not having where front side and vehicle adjacent thereto in the preset range at track rear
Vehicle passes through, then this is controlled after its lane change with the automatic Pilot control unit of car, and its front and therewith phase are located in following fleet
Adjacent vehicle traveling；
If being located at this in the fleet with having car in the preset range at track rear where front side and vehicle adjacent thereto
Pass through, then this controls its Reduced Speed Now with the automatic Pilot control unit of car, and is examined again by its adjacent lane test section
Whether survey in the fleet where being located at its front and vehicle adjacent thereto has vehicle process in the preset range at track rear,
Until being located at this in the fleet with there is no car in the preset range at track rear where front side and vehicle adjacent thereto
When passing through, be located at after this controls this with car lane change again with the automatic Pilot control unit of car, in following fleet its front and
Vehicle traveling adjacent thereto.
10. the method according to any one of claim 7-9 claim, it is characterised in that methods described also includes：
Set different enhancing signal algorithms for different Driving Scenes, according to it is described each with the actual ginseng in car driving procedure
Number calculates enhancing signal, and calculates the poor absolute value of each enhancing signal and targets improvement signal, according to enhancing signal and mesh
The direction optimization driving strategy that the poor absolute value of mark enhancing signal reduces.
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Effective date of registration: 20240426 Address after: 241000 10th Floor, Block B1, Wanjiang Wealth Plaza, Guandou Street, Jiujiang District, Wuhu City, Anhui Province Patentee after: Dazhuo Intelligent Technology Co.,Ltd. Country or region after: China Patentee after: Dazhuo Quxing Intelligent Technology (Shanghai) Co.,Ltd. Address before: 241006 Anshan South Road, Wuhu Economic and Technological Development Zone, Anhui Province Patentee before: Wuhu Sambalion auto technology Co.,Ltd. Country or region before: China |