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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- 238000004891 communication Methods 0.000 claims abstract description 36
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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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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
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CN201710184207.2A CN106994969B (en) | 2017-03-24 | 2017-03-24 | A kind of fleet's formation control loop and method |
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CN106994969B CN106994969B (en) | 2019-06-14 |
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Cited By (27)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107757534A (en) * | 2017-10-19 | 2018-03-06 | 北京图森未来科技有限公司 | A kind of automatic Pilot fleet communications method, apparatus and system |
CN107933551A (en) * | 2017-11-27 | 2018-04-20 | 长安大学 | A kind of intelligence fleet lane-change method |
CN108216236A (en) * | 2017-12-25 | 2018-06-29 | 东软集团股份有限公司 | Control method for vehicle, device, vehicle and storage medium |
CN108769953A (en) * | 2018-07-11 | 2018-11-06 | 株式会社电装 | The communication device and communication means of unmanned transport column based on DSRC |
CN108801283A (en) * | 2018-06-14 | 2018-11-13 | 淮阴工学院 | The fleet's automatic driving control system and its automatic Pilot method of enclosed type road |
CN109087503A (en) * | 2018-09-04 | 2018-12-25 | 惠州市德赛西威智能交通技术研究院有限公司 | A kind of collaborative truck system and method based on V2X |
CN109597414A (en) * | 2018-12-06 | 2019-04-09 | 英华达(上海)科技有限公司 | The control loop and its method of self driving fleet average energy consumption |
CN109795487A (en) * | 2017-11-13 | 2019-05-24 | 现代自动车株式会社 | Device and method for controlling vehicle platoon traveling |
CN109895771A (en) * | 2017-12-11 | 2019-06-18 | 现代自动车株式会社 | The device and method for controlling platoon driving in leading vehicle |
CN110103986A (en) * | 2019-05-15 | 2019-08-09 | 吉林大学 | A kind of intelligence commercial vehicle coordinated control system |
CN110171419A (en) * | 2018-02-19 | 2019-08-27 | 现代自动车株式会社 | Device and method for controlling platoon driving |
CN110525435A (en) * | 2019-07-23 | 2019-12-03 | 北京汽车集团有限公司 | Obtain method, apparatus, storage medium and the vehicle of spacing |
CN110531661A (en) * | 2019-08-22 | 2019-12-03 | 浙江吉利汽车研究院有限公司 | A kind of vehicle is automatically with control method of speeding, device and equipment |
CN110570648A (en) * | 2019-10-29 | 2019-12-13 | 北京百度网讯科技有限公司 | method, device and equipment for adjusting formation driving and computer readable storage medium |
CN111210614A (en) * | 2020-01-16 | 2020-05-29 | 北京汽车集团有限公司 | Method and device for controlling motorcade running |
CN111391833A (en) * | 2018-12-17 | 2020-07-10 | 大众汽车有限公司 | Method and auxiliary system for preparing and/or carrying out lane changes |
CN112105539A (en) * | 2018-05-15 | 2020-12-18 | 康蒂-特米克微电子有限公司 | Autonomous control method for rear vehicles in fleet |
CN112224203A (en) * | 2019-06-28 | 2021-01-15 | 北汽福田汽车股份有限公司 | Vehicle control method and device and automobile |
US20210056854A1 (en) * | 2019-08-23 | 2021-02-25 | Toyota Motor Engineering & Manufacturing North America, Inc. | Hierarchical ai assisted safe and efficient platooning |
CN112424846A (en) * | 2018-04-26 | 2021-02-26 | 株式会社捷太格特 | Driving assistance device |
WO2021043279A1 (en) * | 2019-09-06 | 2021-03-11 | 北京图森智途科技有限公司 | Waypoint information transmission method, apparatus and system for platooning |
CN112849122A (en) * | 2019-11-28 | 2021-05-28 | 奥迪股份公司 | Vehicle fleet driving assistance method, system, vehicle fleet including the system, and medium |
CN112937560A (en) * | 2019-12-11 | 2021-06-11 | 奥迪股份公司 | Driving assistance system, method, computer device and storage medium for a fleet of vehicles |
CN113132425A (en) * | 2019-12-30 | 2021-07-16 | 大唐高鸿数据网络技术股份有限公司 | Motorcade information transmission method, device and equipment |
CN114475598A (en) * | 2022-02-28 | 2022-05-13 | 肇庆市前沿德至智能汽车测试评估有限公司 | High-speed queuing driving system and queuing method for unmanned vehicle |
CN115657686A (en) * | 2022-12-13 | 2023-01-31 | 南京南大电子智慧型服务机器人研究院有限公司 | Backstepping-based multi-robot formation control method |
CN115963770A (en) * | 2023-03-17 | 2023-04-14 | 青岛大学 | Motorcade safety lane change control method, motorcade safety lane change control system, computer equipment and storage medium |
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DE10109046A1 (en) * | 2001-02-24 | 2002-09-05 | Daimler Chrysler Ag | Method for performing lane change with loosely coupled vehicle train, i.e. a convoy, involves a first vehicle requesting lane change, last vehicle checking target lane and for overtaking vehicles, initiating lane change |
CN104210490A (en) * | 2014-09-16 | 2014-12-17 | 成都衔石科技有限公司 | Automatic lane changing following vehicle team |
CN204595513U (en) * | 2015-03-20 | 2015-08-26 | 重庆交通大学 | Based on the Intelligent transport fleet with theory of speeding |
CN105160865A (en) * | 2015-08-05 | 2015-12-16 | 深圳市航盛电子股份有限公司 | Vehicle formation driving control system and method |
CN105702069A (en) * | 2016-03-23 | 2016-06-22 | 戴姆勒股份公司 | Sharing system and method for motorcade driving information |
US20170011633A1 (en) * | 2015-07-08 | 2017-01-12 | Magna Electronics Inc. | Lane change system for platoon of vehicles |
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DE10109046A1 (en) * | 2001-02-24 | 2002-09-05 | Daimler Chrysler Ag | Method for performing lane change with loosely coupled vehicle train, i.e. a convoy, involves a first vehicle requesting lane change, last vehicle checking target lane and for overtaking vehicles, initiating lane change |
CN104210490A (en) * | 2014-09-16 | 2014-12-17 | 成都衔石科技有限公司 | Automatic lane changing following vehicle team |
CN204595513U (en) * | 2015-03-20 | 2015-08-26 | 重庆交通大学 | Based on the Intelligent transport fleet with theory of speeding |
US20170011633A1 (en) * | 2015-07-08 | 2017-01-12 | Magna Electronics Inc. | Lane change system for platoon of vehicles |
CN105160865A (en) * | 2015-08-05 | 2015-12-16 | 深圳市航盛电子股份有限公司 | Vehicle formation driving control system and method |
CN105702069A (en) * | 2016-03-23 | 2016-06-22 | 戴姆勒股份公司 | Sharing system and method for motorcade driving information |
Cited By (38)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107757534A (en) * | 2017-10-19 | 2018-03-06 | 北京图森未来科技有限公司 | A kind of automatic Pilot fleet communications method, apparatus and system |
CN107757534B (en) * | 2017-10-19 | 2020-03-10 | 北京图森未来科技有限公司 | Communication method, device and system for automatic driving fleet |
CN109795487B (en) * | 2017-11-13 | 2023-09-12 | 现代自动车株式会社 | Device and method for controlling train travel of vehicles |
CN109795487A (en) * | 2017-11-13 | 2019-05-24 | 现代自动车株式会社 | Device and method for controlling vehicle platoon traveling |
CN107933551A (en) * | 2017-11-27 | 2018-04-20 | 长安大学 | A kind of intelligence fleet lane-change method |
CN109895771A (en) * | 2017-12-11 | 2019-06-18 | 现代自动车株式会社 | The device and method for controlling platoon driving in leading vehicle |
CN108216236B (en) * | 2017-12-25 | 2019-12-20 | 东软集团股份有限公司 | Vehicle control method, vehicle control device, vehicle and storage medium |
CN108216236A (en) * | 2017-12-25 | 2018-06-29 | 东软集团股份有限公司 | Control method for vehicle, device, vehicle and storage medium |
CN110171419B (en) * | 2018-02-19 | 2023-04-18 | 现代自动车株式会社 | Device and method for controlling the driving of a train |
CN110171419A (en) * | 2018-02-19 | 2019-08-27 | 现代自动车株式会社 | Device and method for controlling platoon driving |
CN112424846B (en) * | 2018-04-26 | 2022-08-05 | 株式会社捷太格特 | Driving assistance device |
CN112424846A (en) * | 2018-04-26 | 2021-02-26 | 株式会社捷太格特 | Driving assistance device |
CN112105539A (en) * | 2018-05-15 | 2020-12-18 | 康蒂-特米克微电子有限公司 | Autonomous control method for rear vehicles in fleet |
CN108801283A (en) * | 2018-06-14 | 2018-11-13 | 淮阴工学院 | The fleet's automatic driving control system and its automatic Pilot method of enclosed type road |
CN108769953B (en) * | 2018-07-11 | 2022-03-25 | 株式会社电装 | DSRC-based communication device and communication method for unmanned transport vehicle fleet |
CN108769953A (en) * | 2018-07-11 | 2018-11-06 | 株式会社电装 | The communication device and communication means of unmanned transport column based on DSRC |
CN109087503B (en) * | 2018-09-04 | 2021-04-20 | 惠州市德赛西威智能交通技术研究院有限公司 | Vehicle-vehicle cooperation system and method based on V2X |
CN109087503A (en) * | 2018-09-04 | 2018-12-25 | 惠州市德赛西威智能交通技术研究院有限公司 | A kind of collaborative truck system and method based on V2X |
CN109597414A (en) * | 2018-12-06 | 2019-04-09 | 英华达(上海)科技有限公司 | The control loop and its method of self driving fleet average energy consumption |
CN111391833A (en) * | 2018-12-17 | 2020-07-10 | 大众汽车有限公司 | Method and auxiliary system for preparing and/or carrying out lane changes |
CN110103986A (en) * | 2019-05-15 | 2019-08-09 | 吉林大学 | A kind of intelligence commercial vehicle coordinated control system |
CN112224203A (en) * | 2019-06-28 | 2021-01-15 | 北汽福田汽车股份有限公司 | Vehicle control method and device and automobile |
CN110525435A (en) * | 2019-07-23 | 2019-12-03 | 北京汽车集团有限公司 | Obtain method, apparatus, storage medium and the vehicle of spacing |
CN110531661A (en) * | 2019-08-22 | 2019-12-03 | 浙江吉利汽车研究院有限公司 | A kind of vehicle is automatically with control method of speeding, device and equipment |
US20210056854A1 (en) * | 2019-08-23 | 2021-02-25 | Toyota Motor Engineering & Manufacturing North America, Inc. | Hierarchical ai assisted safe and efficient platooning |
WO2021043279A1 (en) * | 2019-09-06 | 2021-03-11 | 北京图森智途科技有限公司 | Waypoint information transmission method, apparatus and system for platooning |
US12033514B2 (en) | 2019-09-06 | 2024-07-09 | Beijing Tusen Zhitu Technology Co., Ltd. | Waypoint information transmission method, apparatus and system for platooning |
CN110570648A (en) * | 2019-10-29 | 2019-12-13 | 北京百度网讯科技有限公司 | method, device and equipment for adjusting formation driving and computer readable storage medium |
CN112849122A (en) * | 2019-11-28 | 2021-05-28 | 奥迪股份公司 | Vehicle fleet driving assistance method, system, vehicle fleet including the system, and medium |
CN112937560A (en) * | 2019-12-11 | 2021-06-11 | 奥迪股份公司 | Driving assistance system, method, computer device and storage medium for a fleet of vehicles |
CN113132425B (en) * | 2019-12-30 | 2023-02-21 | 中信科智联科技有限公司 | Motorcade information transmission method, device and equipment |
CN113132425A (en) * | 2019-12-30 | 2021-07-16 | 大唐高鸿数据网络技术股份有限公司 | Motorcade information transmission method, device and equipment |
CN111210614A (en) * | 2020-01-16 | 2020-05-29 | 北京汽车集团有限公司 | Method and device for controlling motorcade running |
CN114475598A (en) * | 2022-02-28 | 2022-05-13 | 肇庆市前沿德至智能汽车测试评估有限公司 | High-speed queuing driving system and queuing method for unmanned vehicle |
CN115657686A (en) * | 2022-12-13 | 2023-01-31 | 南京南大电子智慧型服务机器人研究院有限公司 | Backstepping-based multi-robot formation control method |
CN115657686B (en) * | 2022-12-13 | 2023-05-16 | 南京南大电子智慧型服务机器人研究院有限公司 | Multi-robot formation control method based on Backstepping |
CN115963770A (en) * | 2023-03-17 | 2023-04-14 | 青岛大学 | Motorcade safety lane change control method, motorcade safety lane change control system, computer equipment and storage medium |
CN115963770B (en) * | 2023-03-17 | 2023-07-07 | 青岛大学 | Method, system, computer equipment and storage medium for controlling safety lane change of motorcade |
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Effective date of registration: 20220211 Address after: 241006 Anshan South Road, Wuhu Economic and Technological Development Zone, Anhui Province Patentee after: Wuhu Sambalion auto technology Co.,Ltd. Address before: 241006 Changchun Road, Wuhu economic and Technological Development Zone, Wuhu, Anhui, 8 Patentee before: CHERY AUTOMOBILE Co.,Ltd. |
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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 |