CN107025787A - A kind of motorcade logistic control method and system - Google Patents
A kind of motorcade logistic control method and system Download PDFInfo
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- CN107025787A CN107025787A CN201710233255.6A CN201710233255A CN107025787A CN 107025787 A CN107025787 A CN 107025787A CN 201710233255 A CN201710233255 A CN 201710233255A CN 107025787 A CN107025787 A CN 107025787A
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- vehicle
- navigator
- boat
- information
- message
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/22—Platooning, i.e. convoy of communicating vehicles
Abstract
This application discloses a kind of motorcade logistic control method and system.The motorcade logistic includes navigator's vehicle and with boat vehicle.In fleet's traveling process, navigator's vehicle obtains the RTK correction datas and travel condition information of itself, and carries out vehicle location based on RTK correction datas, to determine the positional information of navigator's vehicle, and then, the historical track of positional information calculation navigator's vehicle based on navigator's vehicle.Further, the historical track of itself and travel condition information are carried out packing generation navigator's message by navigator's vehicle, and navigator's message is sent to boat vehicle, to be adjusted with boat historical track and driving states information operation to navigator vehicle of the vehicle based on navigator's vehicle, so as to realize following for vehicle.Compared with prior art, the present invention is that the control to motorcade logistic can be achieved only with navigator's vehicle, reduces the labour cost in logistics transportation, while without being mounted to the vehicle in fleet, improving the security of logistics transportation.
Description
Technical field
The application is related to logistics management field, more specifically to a kind of motorcade logistic control method and system.
Background technology
In trade contacts, particularly large goods, such as timber, coal, grain, cotton often have substantial amounts of, long
Away from, the single transportation demand in destination.
To meet transportation demand, the scheme of fleet's transport is usually taken in logistics department, but needs multiple driver drivings many
Individual vehicle, the program needs to pay substantial amounts of labour cost, and the management of fleet is also relatively difficult in addition.It can also take and get rid of extension fortune
Defeated scheme, contrasts the first scheme, although Drop and pull transport can save human cost and the oil consumption of a part, a but car
It is generally up to about increasing by one to two trailer (radius of turn when being limited by the power and long vehicle body of headstock is long), and
And get rid of trailer (such as turn on one's side) when accident occurs in headstock and can occur related accident.
The content of the invention
In view of this, the application provide a kind of motorcade logistic control method and, to reduce the labour cost in logistics transportation,
And ensure the safety of logistics transportation.
To achieve these goals, it is proposed that scheme it is as follows：
A kind of motorcade logistic control method, the motorcade logistic includes navigator's vehicle and with boat vehicle, methods described application
In navigator's vehicle, including：
Obtain the RTK correction datas of navigator's vehicle；
Obtain the travel condition information of navigator's vehicle；
RTK correction datas based on navigator's vehicle are positioned to navigator's vehicle, to determine navigator's vehicle
Positional information；
The historical track of navigator's vehicle according to the positional information calculation of navigator's vehicle, to navigator's vehicle
Historical track, travel condition information and vehicle's contour information carry out packing generation navigator's message, and navigator's message is sent out
Deliver to described with boat vehicle.
It is preferred that, in addition to：
It is described to include the position letter with boat vehicle with boat message with boat vehicle transmission with boat message described in receiving
Breath, travel condition information and vehicle's contour information；
Based on it is described with boat vehicle send with boat message, control navigator's vehicle operation.
A kind of motorcade logistic control method, the motorcade logistic includes navigator's vehicle and with boat vehicle, methods described application
In with boat vehicle, including：
Navigator's message that navigator's vehicle is sent is received, navigator's message includes the history rail of navigator's vehicle
Mark, travel condition information and vehicle's contour information；
Based on navigator's message and with reference to the travel condition information with the vehicle that navigates, control it is described with boat vehicle to institute
Navigator's vehicle is stated to be followed.
It is preferred that, in addition to：
Obtain described with boat vehicle and the relative position information of front truck, and be preset in the sign image of front truck behind；
Based on the relative position information and the sign image, control is described to align and ensures with front truck with boat vehicle
The spacing with boat vehicle and front truck is safe distance.
It is preferred that, in addition to：
Obtain the RTK correction datas with the vehicle that navigates；
Navigator's vehicle is positioned based on the RTK correction datas with the vehicle that navigates, to determine navigator's car
Positional information；
To it is described with navigate vehicle positional information, travel condition information and vehicle's contour information pack, generate with
Navigate message, and is sent described with boat message to navigator's vehicle.
A kind of motorcade logistic control system, the motorcade logistic includes navigator's vehicle and with boat vehicle, the system application
In navigator's vehicle, including：
First mobile communication module, the RTK correction datas for obtaining navigator's vehicle；
First CAN, the travel condition information for obtaining navigator's vehicle；
First high accuracy positioning module, is determined navigator's vehicle for the RTK correction datas based on navigator's vehicle
Position, to determine the positional information of navigator's vehicle；
First main processing block, the history rail for navigator's vehicle described in the positional information calculation according to navigator's vehicle
Mark, packing generation navigator's message is carried out to the historical track of navigator's vehicle, travel condition information and vehicle's contour information；
First V2X communication modules, navigator's message for first main processing block to be generated is sent to described with boat
Vehicle.
It is preferred that, the first V2X communication modules be additionally operable to receive it is described with boat vehicle send with boat message, it is described with
The message that navigates includes positional information, travel condition information and the vehicle's contour information with the vehicle that navigates.
It is preferred that, in addition to：Human-computer interaction module, for realizing interacting between navigator's vehicle and driver, and shows
Navigator's vehicle and the running status with the vehicle that navigates.
It is preferred that, first mobile communication module is additionally operable to obtain real-time road condition information, logistics information and scheduling letter
Breath.
A kind of motorcade logistic control system, the motorcade logistic includes navigator's vehicle and with boat vehicle, the system application
In with boat vehicle, including：
2nd V2X communication modules, for receiving navigator's message that navigator's vehicle is sent, navigator's message includes institute
State historical track, travel condition information and the vehicle's contour information of navigator's vehicle；
Second CAN, for obtaining the travel condition information with the vehicle that navigates；
Second main processing block, for based on navigator's message and with reference to it is described with navigate vehicle travel condition information,
Control is described to be followed with boat vehicle to navigator's vehicle.
It is preferred that, in addition to：
Second mobile communication module, for obtaining the RTK correction datas with the vehicle that navigates；
Second high accuracy positioning module, for being entered based on the RTK correction datas with the vehicle that navigates to navigator's vehicle
Row positioning, to determine the positional information of navigator's vehicle；
Wherein, second main processing block be additionally operable to it is described with navigate the positional information of vehicle, travel condition information with
And vehicle's contour information is packed, generation is with boat message；
The 2nd V2X communication modules are additionally operable to send described to navigator's vehicle with boat message.
It is preferred that, in addition to：
Camera, the sign image of front truck behind is preset in for obtaining；
Radar, it is described with boat vehicle and the relative position information of front truck for obtaining；
Wherein, second main processing block is additionally operable to be based on the relative position information and the sign image, control
System is described to align with front truck with boat vehicle and ensures that the spacing with boat vehicle and front truck is safe distance.
Through as shown from the above technical solution, this application discloses a kind of motorcade logistic control method and system.The logistic car
Team includes navigator's vehicle and with boat vehicle.In fleet's traveling process, navigator's vehicle obtains the RTK correction datas and row of itself
Enter status information, and vehicle location is carried out based on RTK correction datas, to determine the positional information of navigator's vehicle, and then, based on neck
The historical track of positional information calculation navigator's vehicle of boat vehicle.Further, navigator's vehicle is by the historical track of itself and traveling
Status information carries out packing generation navigator's message, and navigator's message is sent to boat vehicle, to be based on navigating with boat vehicle
Operation of the historical track and driving states information of vehicle to navigator's vehicle is adjusted, so as to realize following for vehicle.With showing
There is technology to compare, the present invention is that the control to motorcade logistic can be achieved only with navigator's vehicle, is reduced in logistics transportation
Labour cost, while without being mounted to the vehicle in fleet, improving the security of logistics transportation.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 shows a kind of schematic flow sheet of motorcade logistic control method disclosed in one embodiment of the invention；
Fig. 2 shows a kind of schematic flow sheet of motorcade logistic control method disclosed in another embodiment of the present invention；
Fig. 3 shows a kind of structural representation of motorcade logistic control system disclosed in another embodiment of the present invention；
Fig. 4 shows a kind of structural representation of motorcade logistic control system disclosed in another embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Based on this
Embodiment in invention, the every other reality that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example is applied, the scope of protection of the invention is belonged to.
A kind of schematic flow sheet of motorcade logistic control method disclosed in one embodiment of the invention is shown referring to Fig. 1.
The motorcade logistic includes navigator's vehicle and at least one following vehicle.
In the present embodiment, the motorcade logistic control method is applied particularly to navigator's vehicle.
As shown in Figure 1, this method includes：
S101：Obtain the RTK correction datas of navigator's vehicle.
RTK (Real-time kinematic) refers to real-time dynamic carrier phase difference technology, and this is a kind of new commonly uses
GPS measuring methods.Specifically, the RTK correction datas can be obtained by the mobile communication module being arranged in navigator's vehicle.
S102：Obtain the travel condition information of navigator's vehicle.
The travel condition information of vehicle is obtained from the CAN of vehicle, at least including speed information, acceleration information, oil
The travel condition information such as door information, brake information, steering wheel angle information, steering indicating light information.
S103：RTK correction datas based on navigator's vehicle are positioned to navigator's vehicle, to determine navigator's car
Positional information.
High accuracy positioning module based on navigator's built-in vehicle is positioned to navigator's vehicle.Specifically, the high accuracy
Locating module obtains RTK correction datas from the mobile communication module of navigator's vehicle, and navigator's vehicle is entered based on RTK correction datas
Row positioning, to determine the positional information of navigator's vehicle.
It should be noted that in the present embodiment, the positioning precision of high accuracy positioning module is in CEP 2cm, true positioning
Frequency is in more than 5Hz, after IMU (Inertial measurement unit, Inertial Measurement Unit) auxiliary is calculated, output
Frequency uses NMEA forms in more than 20Hz, output result.
S104：The historical track of navigator's vehicle according to the positional information calculation of navigator's vehicle, navigates to described
Historical track, travel condition information and the vehicle's contour information of vehicle carry out packing generation navigator's message, and are navigated described
Message is sent to described with boat vehicle.
The main processing block of navigator's vehicle goes out the historical track of itself according to the positional information calculation of navigator's vehicle, the history
Track is indicated in the form of tracing point.In actual applications, not each tracing point is required for navigator's vehicle to be recorded, such as
When our straight lines are advanced, a tracing point can be indicated with so far apart, but when turn again because trail change compared with
It hurry up, tracing point is accomplished by more more dense.
Having for the tracing point requires as follows：
1st, the line (string) of any one tracing point and any one point on the circular arc of real trace therebetween to the string
Vertical range, no more than 0.5m.
2nd, when straight line is advanced, when the air line distance of two tracing points is more than 20m, it is also desirable to carry out a new track
Point, i.e., at least need a new tracing point per 20m
3rd, the time interval between two tracing points, it is impossible to more than 1s, i.e., per at least one tracing point of 1s
4th, the real time position of current navigator's car, is a newest tracing point
Further, navigator's vehicle is packed the historical track of itself, travel condition information and vehicle's contour information
Navigator's message is generated, and navigator's message is sent to boat vehicle.
It should be noted that in the present embodiment, the position of the positioning antenna of high accuracy positioning module should be arranged on roof
Geometric center position, if can not be placed in center, it is necessary to the conversion of coordinate system be carried out, to ensure the master of navigator's vehicle
Processing module can accurately calculate navigator's vehicle's contour information according to the length, width and height of vehicle.
As seen from the above embodiment, present embodiment discloses this application discloses a kind of motorcade logistic control method.The thing
Flowing fleet includes navigator's vehicle and with boat vehicle.In fleet's traveling process, navigator's vehicle obtain the RTK correction datas of itself with
And travel condition information, and vehicle location is carried out based on RTK correction datas, to determine the positional information of navigator's vehicle, and then, base
In the historical track of positional information calculation navigator's vehicle of navigator's vehicle.Further, navigator's vehicle by the historical track of itself and
Travel condition information carries out packing generation navigator's message, and navigator's message is sent to boat vehicle, to be based on boat vehicle
Operation of the historical track and driving states information of navigator's vehicle to navigator's vehicle is adjusted, so as to realize following for vehicle.
Compared with prior art, the present invention is that the control to motorcade logistic can be achieved only with navigator's vehicle, reduces logistics fortune
Labour cost in defeated, while without being mounted to the vehicle in fleet, improving the security of logistics transportation.
It should be noted that driver needs the operation to navigator's vehicle based on the operation with the vehicle that navigates in actual applications
It is adjusted, to ensure the security in logistics transportation.Thus in other embodiment disclosed by the invention, navigator's vehicle is also needed
Receive with boat vehicle with boat message (with boat message include it is described with the positional information for the vehicle that navigates, travel condition information and
Vehicle's contour information), to aid in driver to be controlled navigator's vehicle.
A kind of flow signal of motorcade logistic control method disclosed in another embodiment of the present invention is shown referring to Fig. 2
Figure.
In the present embodiment, the motorcade logistic control method is applied particularly to navigator's vehicle.
Specifically, this method includes：
S201：Receive navigator's message that navigator's vehicle is sent.
Navigator's message includes historical track, travel condition information and the vehicle's contour information of navigator's vehicle；
S202：Based on navigator's message and with reference to the travel condition information with the vehicle that navigates, control is described with boat car
Navigator's vehicle is followed.
The main processing block of navigator's vehicle sends navigator's message according to navigator's vehicle, and the travel condition of vehicle is believed
Breath, the driving trace of navigator's vehicle is replicated by certain control algolithm control with boat vehicle according to the tracing point of navigator's vehicle
Decision-making order, is sent by CAN, and then controls vehicle to advance, and according to vehicle state and purpose state, no
Disconnected feedback and Correction and Control result；Simultaneously to vehicle-state carry out abnormal monitoring, when break down or fleet's logic ask
During topic, remind in time.
It should be noted that in the present embodiment in order to ensure security during logistics transportation, it is necessary to realize car with
Alignd between car, and ensure the safe distance between vehicle, specific method is as follows：
S203：The relative position information with boat vehicle and front truck is obtained, and is preset in the sign image of front truck behind.
S204：Based on the relative position information and the sign image, control is described to align with boat vehicle with front truck
And ensure that the spacing with boat vehicle and front truck is safe distance.
In navigator's vehicle and the vehicle behind middle position with the vehicle that navigates, obvious logos are set.Can with boat vehicle
Determine to obtain the logos of front truck by the camera that sets on vehicle, and realize based on the logos pair of vehicle
Together.Meanwhile, the relative position information between front truck can be determined by the radar installations on vehicle with boat vehicle, to ensure with boat
Safe distance is remained between vehicle and front truck.
It should be noted that the safe distance described in practical operation includes static security distance and dynamic security distance.
The static security distance refers to safe distance of the fleet under dead ship condition, and the dynamic security distance refers to car
The safe distance of team under operation.
The main error, the error of radar sensor, vehicle chi by high accuracy positioning of the size of the static security distance
The very little error measured and control algolithm are determined.In general, the error that vehicle dimension is measured can be controlled within 1cm,
And the high accuracy positioning error after RTK corrections is in 2cm or so.But position error meets normal distribution, wagon control is added
When be likely to occur excessive control, therefore for the purpose of safety, static security distance is set as 0.3m by us.
The dynamic security distance is main by delay, current driving speed and the control of the delay, processing and control that communicate
Algorithm processed etc. is together decided on.In the present embodiment, the communication between vehicle is typically employed in V2X communications, V2X communication delay
About in 10ms or so, processing and control delay are about in 10ms or so.Plus under most harsh conditions, navigator's vehicle from receive to
Signal is to the real delay for sending out a transmission cycle (50ms), and overall delay can be controlled within 100ms.Cause
This, we take 100ms to be multiplied by present speed as the value of dynamic security distance, such as when fleet is with 72km/h speed row
When entering, dynamic security distance is that 0.1*20m/s is 2m.With boat vehicle communicated between navigator's vehicle in fact, so all
With boat vehicle between be not present communication delay, but for convenience calculate and safe buffering consideration, we also require that each
With boat vehicle when advancing, dynamic security distance is also calculated.
Optionally, in order to aid in control of the driver to navigator's vehicle, methods described also includes in the present embodiment：
S205：Obtain the RTK correction datas with the vehicle that navigates.
By being arranged on the RTK correction datas are obtained with the mobile communication module in boat vehicle.
S206：Navigator's vehicle is positioned based on the RTK correction datas with the vehicle that navigates, to determine the neck
The positional information of boat vehicle.
Navigator's vehicle is positioned based on the high accuracy positioning module with the built-in vehicle that navigates.Specifically, the high accuracy
Locating module obtains RTK correction datas from the mobile communication module with the vehicle that navigates, and based on RTK correction datas to entering with boat vehicle
Row positioning, to determine the positional information with the vehicle that navigates.
S207：Positional information, travel condition information and the vehicle's contour information with the vehicle that navigates is packed, it is raw
Sent into boat message, and by described with boat message to navigator's vehicle.
At least including speed information, add with the travel condition information for the vehicle that navigates from the CAN acquisition of vehicle with the vehicle that navigates
The travel condition information such as velocity information, throttle information, brake information, steering wheel angle information, steering indicating light information.
And then, the main processing block with the vehicle that navigates is by with positional information, travel condition information and the vehicle wheel of the vehicle that navigates
Wide information package generation is sent to navigator's vehicle with boat message, and by being arranged on the V2X communication modules on boat vehicle.
A kind of structural representation of motorcade logistic control system disclosed in another embodiment of the present invention is shown referring to Fig. 3
Figure.
In the present embodiment, navigator vehicle of the control system in motorcade logistic.
The control system includes：First mobile communication module 1, the first CAN 2, the first high accuracy positioning mould
Block 3, the first V2X communication modules 4 and the first main processing block 5.
Wherein, the first mobile communication module 1 is mainly used in providing the function of vehicle online, is responsible for and cloud server leads to
Letter, obtains RTK correction datas and passes to the first high accuracy positioning module 3；And obtain real-time road, logistics information, scheduling
The information of the driving of the assistance navigationp driver such as information, the first main processing block 5 is passed to by this partial information.
First CAN 2, the data for obtaining vehicle interior from the CAN of vehicle, at least including vehicle
The information such as speed information, acceleration information, throttle information, brake information, steering wheel angle information, steering modulating signal, and will letter
Breath is submitted to the first main processing block 5 and handled.
First high accuracy positioning module 3, for realizing the centimeter-level positioning to navigator's vehicle.Specifically, needing from first
Mobile communication module 1 obtains RTK correction datas, and navigator's vehicle is positioned based on RTK correction datas.Need explanation
It is that the corrected positioning precision afterwards of the first high accuracy positioning module 3 is in CEP 2cm, true location frequency in the present embodiment
In more than 5Hz, after IMU auxiliary is calculated, output frequency uses NMEA forms in more than 20Hz, output result, directly transmits
To the first main processing block 5.
In addition, the position of the positioning antenna of the first high accuracy positioning module 3 is in the geometric center position of navigator's roof, such as
Fruit can not be placed in center, it is necessary to carry out the conversion of coordinate system, by ensure according to the length, width and height of vehicle can accurately in terms of
Calculate the profile of navigator's vehicle.
First main processing block 5, the history for navigator's vehicle described in the positional information calculation according to navigator's vehicle
Track, packing generation navigator's report is carried out to the historical track of navigator's vehicle, travel condition information and vehicle's contour information
Text, and transfer to the first V2X communication modules 4 to send navigator's message to navigator's vehicle.
First V2X communication modules 4 can be obtained from air interface with boat vehicle send with boat message, and will with boat report
Text passes to the first main processing block 5, can also from the first main processing block 5 obtain the navigator's message to be sent and be sent to
In boat vehicle.
In addition, in the present embodiment, human-computer interaction module 6 is also included in the logistics control system of navigator's vehicle.It is described
Human-computer interaction module 6 is realized by modes such as sound (buzzer), image (screen), buttons (physical button or touch-screen) and driven
Interaction between the person of sailing and system, including show status information with the vehicle that navigates, with boat vehicle abnormality status early warning etc..
A kind of structural representation of motorcade logistic control system disclosed in another embodiment of the present invention is shown referring to Fig. 4
Figure.
In the present embodiment, the motorcade logistic control system be applied particularly in motorcade logistic with boat vehicle.
The control system is specifically included：Second mobile communication module 7, the second CAN 8, second are high-precision fixed
Position module 9, the 2nd V2X communication modules 10 and the second main processing block 11.
Wherein, the second mobile communication module 7 is mainly used in providing the function of vehicle online, is responsible for and cloud server leads to
Letter, obtains RTK correction datas and passes to the second high accuracy positioning module 9.
Second CAN 8, the data for obtaining vehicle interior from the CAN of vehicle, at least including vehicle
The information such as speed information, acceleration information, throttle information, brake information, steering wheel angle information, steering modulating signal, and will letter
Breath is submitted to the second main processing block 11 and handled.Meanwhile, the control instruction that the second main processing block 11 is assigned is sent to
CAN.
Second high accuracy positioning module 9, for realizing to the centimeter-level positioning with the vehicle that navigates.Specifically, needing from second
Mobile communication module 7 obtains the RTK correction datas with the vehicle that navigates, and based on RTK correction datas to being positioned with boat vehicle.Need
It is noted that positioning precision is in CEP 2cm after the second high accuracy positioning module 9 is corrected in the present embodiment, truly
Location frequency is in more than 5Hz, after IMU auxiliary is calculated, output frequency uses NMEA forms in more than 20Hz, output result,
It is directly passed to the second main processing block 11.
In addition, the second high accuracy positioning module 9 positioning antenna position with navigate roof geometric center position, such as
Fruit can not be placed in center, it is necessary to carry out the conversion of coordinate system, by ensure according to the length, width and height of vehicle can accurately in terms of
Calculate the profile with the vehicle that navigates.
Second main processing block 11, the traveling shape for the navigator's message sent according to navigator's vehicle, and vehicle
State information, by certain control algolithm, controls to replicate the traveling of navigator's vehicle according to the tracing point of navigator's vehicle with boat vehicle
The decision-making order of track, is sent by CAN, and then controls vehicle to advance, and according to vehicle state and purpose
State, constantly feedback and Correction and Control result.Meanwhile, to positional information, travel condition information and the vehicle wheel with the vehicle that navigates
Wide information is packed, and generation is sent to navigator's vehicle with boat message, and to navigate, vehicle enters to the travel condition with the vehicle that navigates
Row abnormal monitoring, is reminded in time when breaking down or fleet's logic goes wrong.
2nd V2X communication modules 10 can obtain navigator's message that navigator's vehicle is sent from air interface, and will navigate
Message passes to the second main processing block 11, and message and being sent with boat of being sent can also be obtained from the second main processing block 11
Into navigator's vehicle.
In addition, in other embodiment disclosed by the invention, for alignment before and after ensureing between fleet and safety is maintained at
Distance.
It is disclosed by the invention other with boat vehicle logistics control system in, the control system also include camera 12 and thunder
Up to 13.
Specifically, setting obvious logos in navigator's vehicle and with the vehicle central behind position for the vehicle that navigates.With boat
Vehicle is obtained based on the camera 12 and is arranged on logos on front truck, so that it is determined that with boat vehicle whether with front truck pair
Together.
In addition, sending radiofrequency signal to front truck by radar 13 with boat vehicle, with this determination and the relative position of front truck, enter
And ensure the distance between two cars and be maintained at safe distance.
Optionally, motorcade logistic control method and system with reference to disclosed in above example, the invention also discloses one kind
The formation method of motorcade logistic and the method for leaving one's post of motorcade logistic.
Wherein, the formation process of motorcade logistic is specific as follows：
In order to reduce sensor cost and scheme complexity with the vehicle that navigates, forming into columns needs to carry out in specific on-site
(reduce external interference and occur unexpectedly possible).Formation process needs to chase after a progress, i.e., when navigator's vehicle needs to navigate many
, it is necessary to first first be formed a team with wherein one during with boat vehicle, then joined the team in tail of the queue for second, by that analogy.
First, when navigator garage sail to boat 300 meters of vehicle periphery in the range of when, navigator's vehicle and with boat vehicle can
To carry out radio communication by V2X communication modules.Now, navigator's vehicle can be received with the transmission of boat vehicle cycle with boat report
Text, therefore navigator vehicle is after parsing and processing, can be provided with boat vehicle to driver on human-computer interaction interface
Positional information and travel condition information.
When navigator's vehicle drive to navigate vehicle surrounding 20m in the range of and vehicle between clear when, by navigator's car
Driver judge with boat vehicle it is present whether be to wait with boat state with boat state, if meeting condition, in man-machine interaction
The action command formed into columns is initiated on interface, then navigator's vehicle sends formation control message.The position that need to be reached with boat vehicle
Put and determined by current state (if only navigator's vehicle, directly reach the certain area of navigator's rear view of vehicle, if had with
Navigate vehicle, then reach last certain area with the rear view of vehicle that navigates).After navigator's message is sent, setting time-out time is
500ms, if not receiving the response message being properly received in 500ms, then it is assumed that communication failure.
Navigator's vehicle receive be properly received navigator's message it is corresponding after, set perform time-out time be 1 minute, if 1 point
The response for running succeeded or performing failure is not received in clock, then understanding performs failure.
With boat vehicle judge itself with boat state, if not waiting with boat state, then retransmit a bar response message, ring
Type is answered to perform failure.If being to wait for boat state, the state of itself is set to initialization with boat, and timer is set
0.8 minute, and perform operation.If time-out time, which is reached in also unfinished or implementation procedure, occurs other mistakes, one is sent
The response message of failure is performed, and oneself state is arranged to wait with boat.If successfully arriving at appointed place in time-out time
With specified course, and be adjusted to front truck the distance of static security distance, then send the response message run succeeded, and by itself
State is arranged to boat.
Navigator's vehicle is received after the response message for running succeeded or performing failure, and driver is reminded.
By that analogy, the formation of whole fleet is completed.
The process of leaving one's post of motorcade logistic is specific as follows：
Flow of leaving one's post is more similar than formation flow, but more simple.Leave one's post be also required to specific on-site carry out (because
Need to carry out handling goods after leaving one's post with boat vehicle or stop waiting new navigator fleet arrival etc.).Process of leaving one's post needs to chase after
It is individual to leave one's post, i.e., it is necessary to be left one's post since last is with boat vehicle, by that analogy when needing to leave one's post with boat vehicle for many.
First, the action command left one's post, Ran Houling are initiated on human-computer interaction interface by the driver of navigator's vehicle
Boat vehicle sends control message of leaving one's post.After transmission, setting time-out time is 500ms, is properly received if not received in 500ms
Response message, then it is assumed that communication failure.
Received with boat vehicle after control command, send a bar response message, respond style is to be properly received.
Navigator's vehicle receive be properly received it is corresponding after, set perform time-out time be 1 minute, if not having in 1 minute
The response for running succeeded or performing failure is received, then understanding performs failure.
With boat vehicle judge itself with boat state, if not with boat state, then retransmit a bar response message, ring
Type is answered to perform failure.If then the state of itself is set to leave one's post, and set timer with boat state
0.8 minute, and perform operation.If time-out time, which is reached in also unfinished or implementation procedure, occurs other mistakes, one is sent
The response message of failure is performed, and oneself state is arranged to boat.If successful execution is left one's post in time-out time, send out
The response message run succeeded is sent, and oneself state is arranged to wait with boat.
Navigator's vehicle is received after the response message for running succeeded or performing failure, and driver is reminded.
By that analogy, it is known that whole fleet dismisses, and navigator's vehicle can go one's own way.
It should be noted that the system embodiment is corresponding with embodiment of the method, its implementation procedure is identical with principle is performed,
Therefore not to repeat here.
Finally, in addition it is also necessary to explanation, herein, such as first and second or the like relational terms be used merely to by
One entity or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or operation
Between there is any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant meaning
Covering including for nonexcludability, so that process, method, article or equipment including a series of key elements not only include that
A little key elements, but also other key elements including being not expressly set out, or also include be this process, method, article or
The intrinsic key element of equipment.In the absence of more restrictions, the key element limited by sentence "including a ...", is not arranged
Except also there is other identical element in the process including the key element, method, article or equipment.
The embodiment of each in this specification is described by the way of progressive, and what each embodiment was stressed is and other
Between the difference of embodiment, each embodiment identical similar portion mutually referring to.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (12)
1. a kind of motorcade logistic control method, it is characterised in that the motorcade logistic includes navigator's vehicle and with boat vehicle, described
Method is applied to navigator's vehicle, including：
Obtain the RTK correction datas of navigator's vehicle；
Obtain the travel condition information of navigator's vehicle；
RTK correction datas based on navigator's vehicle are positioned to navigator's vehicle, to determine the position of navigator's vehicle
Information；
The historical track of navigator's vehicle according to the positional information calculation of navigator's vehicle, to the history of navigator's vehicle
Track, travel condition information and vehicle's contour information carry out packing generation navigator's message, and by navigator's message send to
It is described with boat vehicle.
2. according to the method described in claim 1, it is characterised in that also include：
Receive it is described with boat vehicle send with boat message, it is described to include the positional information with the vehicle that navigates, OK with boat message
Enter status information and vehicle's contour information；
Based on it is described with boat vehicle send with boat message, control navigator's vehicle operation.
3. a kind of motorcade logistic control method, it is characterised in that the motorcade logistic includes navigator's vehicle and with boat vehicle, described
Method is applied to boat vehicle, including：
Receive navigator's message that navigator's vehicle is sent, navigator's message includes the historical track, OK of navigator's vehicle
Enter status information and vehicle's contour information；
Based on navigator's message and with reference to the travel condition information with the vehicle that navigates, control it is described with boat vehicle to the neck
Boat vehicle is followed.
4. method according to claim 3, it is characterised in that also include：
Obtain described with boat vehicle and the relative position information of front truck, and be preset in the sign image of front truck behind；
Based on the relative position information and the sign image, control is described to align with front truck with boat vehicle and ensures described
Spacing with boat vehicle and front truck is safe distance.
5. method according to claim 3, it is characterised in that also include：
Obtain the RTK correction datas with the vehicle that navigates；
Navigator's vehicle is positioned based on the RTK correction datas with the vehicle that navigates, to determine navigator's vehicle
Positional information；
Positional information, travel condition information and the vehicle's contour information with the vehicle that navigates is packed, generation is with boat report
Text, and sent described with boat message to navigator's vehicle.
6. a kind of motorcade logistic control system, it is characterised in that the motorcade logistic includes navigator's vehicle and with boat vehicle, described
System is applied to navigator's vehicle, including：
First mobile communication module, the RTK correction datas for obtaining navigator's vehicle；
First CAN, the travel condition information for obtaining navigator's vehicle；
First high accuracy positioning module, is positioned for the RTK correction datas based on navigator's vehicle to navigator's vehicle, with
Determine the positional information of navigator's vehicle；
First main processing block, for the historical track of navigator's vehicle described in the positional information calculation according to navigator's vehicle,
Packing generation navigator's message is carried out to the historical track of navigator's vehicle, travel condition information and vehicle's contour information；
First V2X communication modules, navigator's message for first main processing block to be generated is sent to described with boat vehicle.
7. system according to claim 6, it is characterised in that the first V2X communication modules be additionally operable to receive it is described with
The vehicle that navigates send with boat message, it is described with boat message include it is described with the positional information for the vehicle that navigates, travel condition information and
Vehicle's contour information.
8. system according to claim 7, it is characterised in that also include：Human-computer interaction module, for realizing navigator's vehicle
Interacting between driver, and show navigator's vehicle and the running status with the vehicle that navigates.
9. system according to claim 7, its feature is being, first mobile communication module is additionally operable to obtain real-time
Traffic information, logistics information and schedule information.
10. a kind of motorcade logistic control system, it is characterised in that the motorcade logistic includes navigator's vehicle and with boat vehicle, institute
System is stated to be applied to boat vehicle, including：
2nd V2X communication modules, for receiving navigator's message that navigator's vehicle is sent, navigator's message includes the neck
Historical track, travel condition information and the vehicle's contour information of boat vehicle；
Second CAN, for obtaining the travel condition information with the vehicle that navigates；
Second main processing block, for based on navigator's message and with reference to the travel condition information with the vehicle that navigates, control
It is described that navigator's vehicle is followed with boat vehicle.
11. system according to claim 10, it is characterised in that also include：
Second mobile communication module, for obtaining the RTK correction datas with the vehicle that navigates；
Second high accuracy positioning module, for being determined based on the RTK correction datas with the vehicle that navigates navigator's vehicle
Position, to determine the positional information of navigator's vehicle；
Wherein, second main processing block is additionally operable to positional information, travel condition information and the car with the vehicle that navigates
Profile information is packed, and generation is with boat message；
The 2nd V2X communication modules are additionally operable to send described to navigator's vehicle with boat message.
12. system according to claim 10, it is characterised in that also include：
Camera, the sign image of front truck behind is preset in for obtaining；
Radar, it is described with boat vehicle and the relative position information of front truck for obtaining；
Wherein, second main processing block is additionally operable to be based on the relative position information and the sign image, controls institute
State and align and ensure that the spacing with boat vehicle and front truck is safe distance with front truck with boat vehicle.
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| CN109034690A (en) * | 2018-07-05 | 2018-12-18 | 北京智行者科技有限公司 | Method is sent in a kind of collaboration with charge free |
| CN109062221A (en) * | 2018-09-03 | 2018-12-21 | 成都市新筑路桥机械股份有限公司 | A kind of intelligently marshalling Vehicular system and its control method |
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| CN111696338A (en) * | 2019-03-15 | 2020-09-22 | 北京图森智途科技有限公司 | Motorcade cooperative driving abnormity monitoring method and system |
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| CN114399906A (en) * | 2022-03-25 | 2022-04-26 | 四川省公路规划勘察设计研究院有限公司 | Vehicle-road cooperative driving assisting system and method |
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