CN108269415A - Control the method and system of vehicle traveling - Google Patents
Control the method and system of vehicle traveling Download PDFInfo
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- CN108269415A CN108269415A CN201611255838.0A CN201611255838A CN108269415A CN 108269415 A CN108269415 A CN 108269415A CN 201611255838 A CN201611255838 A CN 201611255838A CN 108269415 A CN108269415 A CN 108269415A
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- vehicle
- message
- connection
- request message
- disconnects
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0965—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The embodiment of the present invention provides a kind of method and system for controlling vehicle traveling, belongs to automatic Pilot technical field.The method of the control vehicle traveling, travels for this vehicle vehicle control front vehicle, including：It sends and can access message；It receives the connection that the front vehicle is sent in response to the accessible message and establishes request message；Request message is established in connection based on the reception, establishes the connection with the front vehicle；And traveling control message is sent to the front vehicle, the front vehicle is controlled to travel.Information will be controlled with identical traveling by establishing the vehicle of connection, and with identical traveling behavior, safe distance becomes smaller during the operation of vehicle on road, alleviates road traffic congestion, reduces accident, improves road traffic operational efficiency and improves safety in operation.
Description
Technical field
The present invention relates to automatic Pilot technical fields, and in particular, to a kind of method and system for controlling vehicle traveling.
Background technology
With social development, the vehicle on urban road is increasing, and most Cities with Great Population streets is caused to be handed over
Logical congestion, seriously affects the trip and daily life of people.The reason of current investigation result shows, causes traffic congestion is compared
The reason of complexity, different cities and different sections of highway traffic congestion, is also different.And in terms of comprehensive, according to traffic participant to original
Because being analyzed, it can substantially be attributed to 3 classes：1) artificial origin, such as driving technology, driving civilization degree；2) the reason of vehicle,
Such as vehicle flowrate, vehicle performance, vehicle trouble rate；3) condition of road surface and other reasons, as road can use number of track-lines, road matter
Amount, track mouthful density, roading, parking field distribution etc..Wherein, driving technology and vehicle performance, such as influence more apparent
Start-stop performance, determine front vehicle and the front vehicles necessary safe distance when vehicle stops and advances.When road is gathered around
It is stifled when occurring, frequently stop and starting is exacerbated because of low running speed caused by safe distance.
The automatic Pilot implementation of the prior art, mostly according to pre-determined route, and it is anti-according to completed traveling behavior
In feedback update to driving information, realized in a manner that the automatic Pilot for the later stage provides control information.
Present inventor has found that the said program of the prior art, which has, does not adapt to city in the implementation of the present invention
City's road conditions are complicated, need immediate updating, immediately control vehicle traveling defect.
Invention content
The purpose of the embodiment of the present invention is to provide a kind of method and system for controlling vehicle traveling, including this vehicle vehicle control
Front vehicle travels and front vehicles control the method and system that this vehicle vehicle travels, and this method travels in the same direction in same link
Front vehicles and front vehicle linked together by certain mode, realize vehicle have identical driving behavior, with reduce
Safe distance between vehicle so as to the vehicle low running speed that safe distance is avoided to bring, alleviates congestion, reduces accident, carry
High road traffic operational efficiency and raising safety in operation.
To achieve these goals, the method that the embodiment of the present invention provides a kind of vehicle vehicle control front vehicle traveling,
This method includes：It sends and can access message；The connection that the front vehicle is sent in response to the accessible message is received to establish
Request message；Request message is established in connection based on the reception, establishes the connection with the front vehicle；And to described
Front vehicle sends traveling control message, and the front vehicle is controlled to travel.
Optionally, this method further includes：Request message is disconnected to front vehicle transmission；Receive the rear vehicle
In response to it is described disconnect request message transmission disconnect confirmation message；And it is disconnected really based on what is received
Recognize message, disconnect the connection with the front vehicle.
Optionally, this method further includes：Receive the front vehicle transmission disconnects request message；In response to being connect
Request message is disconnected described in receiving, confirmation message is disconnected to front vehicle transmission；And after disconnecting and being described
The connection of square vehicle.
Optionally, this method further includes：After establishing the connection with the front vehicle, stop sending the accessible report
Text.
The embodiment of the present invention also provides a kind of method that front vehicles control this vehicle vehicle to travel, should for this vehicle vehicle
Method includes：Receive the accessible message from the front vehicles；In response to the accessible message of reception, connection is sent
Establish request message；Establish the connection with the front vehicles；And receive the traveling control report that the front vehicles are sent
Text controls message to control described vehicle vehicle traveling according to the traveling.
Optionally, this method further includes：Request message is disconnected to front vehicles transmission；Receive the front vehicle
In response to this disconnect request message transmission disconnect confirmation message；Confirmation report is disconnected based on the reception
Text disconnects the connection with the front vehicles.
Optionally, this method further includes：Receive the front vehicles transmission disconnects request message；In response to described
What is received disconnects request message, and confirmation message is disconnected to front vehicles transmission；Disconnection based on the reception
Confirmation message is connected, disconnects the connection with the front vehicles.
The embodiment of the present invention also provides a kind of system for controlling vehicle traveling, and for this vehicle vehicle, which includes：It sends
Device, for sending accessible message；Reception device sends for receiving the front vehicle in response to the accessible message
Connection establish request message；Request message is established in control device, the connection for being received based on the reception device, controls institute
State the foundation of this vehicle vehicle and the connection of the front vehicle；And sending device is additionally configured to：It is sent to the front vehicle
Traveling control message, so that the front vehicle controls message that the front vehicle is controlled to travel according to the traveling.
Optionally, the sending device is additionally configured to：Request message is disconnected to front vehicle transmission；It is described
Reception device is additionally configured to：It receives the front vehicle and disconnects disconnecting really for request message transmission in response to described
Recognize message；And the control device is additionally configured to：Confirmation message, control are disconnected based on what the reception device received
Described vehicle vehicle disconnects the connection with the front vehicle.
Optionally, the reception device is additionally configured to：Receive the front vehicle transmission disconnects request message；
The sending device is additionally configured to：In response to disconnecting request message described in reception device reception, after described
Square vehicle transmission disconnects confirmation message；And the control device is additionally configured to：Control described vehicle vehicle disconnect with
The connection of the front vehicle.
Optionally, the reception device is additionally configured to：Receive the accessible message from the front vehicles；The hair
Device is sent to be additionally configured to：In response to the accessible message that the reception device receives, send connection and establish request message；
The control device is additionally configured to：Described vehicle vehicle is controlled to establish the connection with the front vehicles；And the reception
Device is additionally configured to：Receive the traveling control message that the front vehicles are sent；And the control device is additionally configured to：
The traveling control message received according to the reception device controls described vehicle vehicle traveling.
Optionally, the sending device is additionally configured to：Request message is disconnected to front vehicles transmission；It is described
Reception device is additionally configured to：It receives the front vehicles and disconnects disconnecting really for request message transmission in response to described
Recognize message；The control device is additionally configured to：According to the confirmation message that disconnects of the reception, described vehicle vehicle is controlled
Disconnect the connection with the front vehicles.
Optionally, the reception device is additionally configured to：Receive the front vehicles transmission disconnects request message；
The sending device is additionally configured to：Request message is disconnected in response to what the reception device received, to the front vehicle
Transmission disconnects confirmation message；The control device is additionally configured to：It is disconnected according to what the reception device received
Confirmation message controls described vehicle vehicle to disconnect the connection with the front vehicles.
Through the above technical solutions, this vehicle vehicle, which is sent, can access message, to indicate that this vehicle vehicle can be asked by other vehicles
Access is asked, when having other vehicles such as front vehicle to receive the accessible message, sends the connection that can access message in response to this
Request message is established, this vehicle vehicle receives the connection and establishes request message, and request message, foundation and rear are established based on the connection
The connection of vehicle, this vehicle vehicle rearward can send traveling control message by vehicle, realize the control travelled to front vehicle.Pass through
Said program carries out the traveling of the vehicle of the front and rear traveling of same link the coordinated signals of road vehicle, avoids because artificially driving
It is blocked caused by sailing factor, accident, improves road driving efficiency.
The other feature and advantage of the embodiment of the present invention will be described in detail in subsequent specific embodiment part.
Description of the drawings
Attached drawing is that the embodiment of the present invention is further understood for providing, and a part for constitution instruction, under
The specific embodiment in face is used to explain the embodiment of the present invention, but do not form the limitation to the embodiment of the present invention together.Attached
In figure：
Figure 1A is the method flow diagram of this vehicle vehicle control front vehicle traveling of the embodiment of the present invention 1；
Figure 1B is the method flow diagram of this vehicle vehicle control front vehicle traveling of the embodiment of the present invention 2；
The method flow diagram that Fig. 2A is this vehicle vehicle of the embodiment of the present invention 3 and front vehicle disconnects；
The method flow diagram that Fig. 2 B are this vehicle vehicles of the embodiment of the present invention 4 and front vehicle disconnects；
Fig. 3 is that the front vehicles of the embodiment of the present invention 5 control the method flow diagram that this vehicle vehicle travels；
Fig. 4 is the method flow diagram of this vehicle vehicle control front vehicle traveling of the embodiment of the present invention 6；
Fig. 5 is the state model switching schematic diagram of this vehicle vehicle control front vehicle traveling of the embodiment of the present invention 6；
Fig. 6 is the system structure diagram of the control vehicle traveling of the embodiment of the present invention 7.
Specific embodiment
The specific embodiment of the embodiment of the present invention is described in detail below in conjunction with attached drawing.It should be understood that this
Locate described specific embodiment and be merely to illustrate and explain the present invention embodiment, be not intended to restrict the invention embodiment.
" vehicle for being in non-automatic driving condition " mentioned in this article refers to：Vehicle without Function for Automatic Pilot,
Or the vehicle do not opened with Function for Automatic Pilot but Function for Automatic Pilot；" vehicle of automatic Pilot state " refers to have certainly
The dynamic vehicle for driving function and Function for Automatic Pilot unlatching.
Actively access refers to be described whether vehicle has been completed initiatively to establish connection with front vehicles.Actively access is closed
It closes to refer to not establish with front vehicles and connect, actively access, which opens to refer to establish with front vehicles, completes connection.
Wherein, passive access refers to be described whether vehicle has been completed passively to establish connection with front vehicle.Passively
Access, which is closed, refers to that not having front vehicle to be established with this vehicle connects, and passive access, which is opened, refers to that have front vehicle establishes with this vehicle
Complete connection.
Embodiment 1
Figure 1A shows the method flow diagram of this vehicle vehicle control front vehicle traveling of one embodiment of the invention.Such as Figure 1A
Shown, the method for this vehicle vehicle control front vehicle traveling of the embodiment includes：In step s 110, it sends and can access report
Text；In the step s 120, it receives the connection that the front vehicle is sent in response to the accessible message and establishes request message；
In step S130, request message is established in the connection based on the reception, establishes the connection with the front vehicle；And in step
In rapid S140, traveling control message is sent to the front vehicle, the front vehicle is controlled to travel.
In said program, when this vehicle vehicle does not access front vehicle, this vehicle vehicle, which is sent, can access message, i.e. step
S110, such as can be broadcasted by near radio signal and can access message, so that front vehicle, which can receive this, can access message,
Accessible message information such as may include that its temporal information, identity information, travel speed, access speed and traveling are planned.Its
In, temporal information is local zone time；Identity information is this vehicle vehicle intrinsic information, is primarily referred to as vehicle brand, vehicle model, vehicle
License plate numbers etc.；Travel speed refers to the current travel speed of vehicle；Access speed refers to vehicle during connection is established
Admissible velocity interval；Traveling planning refers to the path planning of vehicle traveling, for the vehicle in non-automatic driving condition
The information is sky, and for the vehicle of automatic Pilot state, which will continue to travel for the vehicle before present road is changed
Distance.
The method that the front vehicle of the embodiment controls this vehicle vehicle to travel may also include：Establish the connection with front vehicle
Afterwards, stop sending the accessible message.
In said program, such as the passive access state of this vehicle vehicle can be set to identify, to identify the passive of this vehicle vehicle
Access state when no front vehicle accesses, sets this vehicle vehicle then to lead to for passive access closed state in step S108
It crosses near radio signal broadcast them and can access message, vehicle is come from behind in response to the accessible message hair when receiving
After request message is established in the connection sent, request message is established based on the connection, establishes the connection with front vehicle；And rearward vehicle
Traveling control message is sent, taken over to the control of the traveling of front vehicle.
Embodiment 2
Figure 1B shows the method flow diagram of this vehicle vehicle control front vehicle traveling of one embodiment of the invention.Such as Figure 1B
Shown, the method for this vehicle vehicle control front vehicle traveling of the embodiment further includes：
Receive in the step s 120 front vehicle connection establish request message after, can in step S132, send connect
It connects and establishes confirmation message to front vehicle, responded with establishing request to the connection of front vehicle.In addition, it can access sending
Before message, i.e., before step S110, it can confirm that this vehicle vehicle is in passive access closed state in step S108；And/or
After establishing connection with front vehicle, i.e. after step S130, this vehicle vehicle can be set for passive access opening state in step S134
State.
In the case where this vehicle vehicle is in passive access closed state, when this vehicle vehicle is operated on road, come when receiving
From after request message is established in the connection of front vehicle, confirmation message is established in transmittable connection, with the summary responses request.When the vehicle
It is established with front vehicle after completing connection, vehicle enters passive access opening.
Above-described embodiment sets the mark of the passive access state of this vehicle vehicle, to identify after whether this vehicle vehicle connect
Square vehicle, the status information of clear and definite vehicle facilitate identification.
Embodiment 3
Fig. 2A shows the method flow diagram of this vehicle vehicle control front vehicle traveling of one embodiment of the invention.The implementation
The step of example is on the basis of embodiment 1 or 2, sets this vehicle vehicle and front vehicle to disconnect.As shown in Figure 2 A, the party
Method further includes：In step S210, request message is disconnected to front vehicle transmission；In step S220, institute is received
State front vehicle in response to it is described disconnect request message transmission disconnect confirmation message；And in step S230,
Based on the confirmation message that disconnects received, the connection with the front vehicle is disconnected.
In the case where this vehicle vehicle is in passive connection opening, this vehicle vehicle is wanted because of the reasons such as arrive at or turn
When disconnecting the connection with front vehicle, the request disconnected in the vehicle of rear is sent to, front vehicle is true when receiving the request
Recognize.This vehicle vehicle enters passive access closed state after connection disconnects.
Embodiment 4
Fig. 2 B show the method flow diagram of this vehicle vehicle control front vehicle traveling of one embodiment of the invention.The implementation
The step of example is on the basis of embodiment 1 or 2 or 3, sets this vehicle vehicle and front vehicle to disconnect.As shown in Figure 2 B,
This method further includes：In step S260, receive the front vehicle transmission disconnects request message；In step S270
In, in response to disconnecting request message described in being received, confirmation message is disconnected to front vehicle transmission；And
In step S280, the connection with the front vehicle is disconnected.
In the case where this vehicle vehicle is in passive connection opening, comes from behind the disconnection of vehicle when this vehicle vehicle receives and connect
When connecing request message, send to disconnect confirmation message and give immediately and respond, connection disconnects.Stop the traveling control to front vehicle
System, this vehicle vehicle enter passive access closed state after connection disconnects.
Above-described embodiment 4 and 5 is the two ways disconnected with front vehicle, can be asked by this vehicle vehicle or by rear
Vehicle is asked, i.e. embodiment 3；Also it can ask to disconnect by front vehicle, i.e. embodiment 4, requested vehicle receives disconnection and connects
It is responded after connecing request, transmission disconnects confirmation message, and to disconnect the connection of two vehicles, this vehicle vehicle terminates to rear vehicle
Traveling control.The request and confirmation of traveling control end process are completed in the interaction of two vehicles, ensure to terminate traveling control by both sides
Vehicle knows, ensures driving safety.
After this vehicle vehicle and front vehicle disconnect, such as this vehicle vehicle can be set for passive access opening,
Thus message can be can access according to the method flow of embodiment 1 or 2, broadcast transmission, the connection request when having front vehicle response
Front vehicle.
Embodiment 5
Fig. 3 shows the method flow diagram that the front vehicles of one embodiment of the invention control this vehicle vehicle to travel.The implementation
Example is to work as using this vehicle vehicle as front vehicle, establishes and connects with front vehicles, by the method for front vehicles control when driving.
As shown in figure 3, the front vehicles of the embodiment of the present invention control the method that this vehicle vehicle travels, for this vehicle vehicle, this method packet
It includes：In step S310, the accessible message from the front vehicles is received；In step s 320, in response to the institute of reception
Accessible message is stated, connection is sent and establishes request message；In step S330, the connection with the front vehicles is established；And
In step S340, the traveling control message that the front vehicles are sent is received, message is controlled to control described according to the traveling
Vehicle vehicle travels.
This vehicle vehicle in the embodiment is corresponding with the front vehicle in embodiment 1 or 2, this vehicle vehicle is as rear vehicle
The accessible message of front vehicles is received, and connection is sent and establishes request message, traveling control is asked with vehicle forwards, such as
Described in embodiment 1 or 2, front vehicles, which receive the connection, to be established request message and establishes request message based on the connection and build
The vertical connection with this vehicle vehicle, front vehicles send traveling control message to this vehicle vehicle, this vehicle vehicle receives enforcement control
Message simultaneously controls this vehicle vehicle to travel according to it.
As to the perfect of implementation 5, this method can also for example include the setting disconnected with front vehicles, setting
Mode can be identical with implementing 3 and/or 4 mode, can be sent out by this vehicle vehicle and disconnect request, specifically further included：To institute
It states front vehicles transmission and disconnects request message；It receives the front vehicles and disconnects request message transmission in response to this
Disconnect confirmation message；The confirmation message that disconnects based on the reception disconnects the connection with the front vehicles.Its with
The method and step implemented described in 3, attached drawing 2A is identical, is " preceding in the present embodiment difference lies in " front vehicle " in embodiment 3
Square vehicle ".
When front vehicles, which are sent out, disconnects request, this method specifically further includes：Receive what the front vehicles were sent
Disconnect request message；Request message is disconnected in response to the reception, is disconnected to front vehicles transmission
Confirmation message；The confirmation message that disconnects based on the reception disconnects the connection with the front vehicles.Its with implement 4, it is attached
Method and step described in Fig. 2 B is identical, is " front vehicles " in the present embodiment difference lies in " front vehicle " in embodiment 3.
In above-described embodiment 5, as the requesting party connected, request message is established in vehicle transmission connection to this vehicle vehicle forwards,
Active access state can be set to identify, identify its connection status with front vehicles, when not connected front vehicles or with front
When vehicle disconnects, it is set actively to access opening, when being connect with front vehicles, it is set to be closed for actively access
Closed state.
Embodiment 6
Embodiment 6 is on the basis of 1-5 is implemented, and shows that " this vehicle vehicle " and " front vehicle " interaction carries out vehicle traveling
The method flow diagram of control.As shown in figure 4, the control of the traveling of this vehicle vehicle and front vehicle is specially：When this vehicle vehicle is in
Passive access closed state, in step S600, sends and can access message；Front vehicle is when the access closed state that has the initiative
When, that is, think to be not connected with any front vehicles, in step s 601, receive the accessible message from front vehicles；In step
In S602, in response to the accessible message received in step S601, vehicle, which sends to connect, forwards establishes request message；Ben Cheche
The request is received, and establishes the connection with front vehicle in step s 604；Meanwhile front vehicle is established and front vehicles
Connection, i.e. step S605；After establishing connection, rearward vehicle sends traveling control message to this vehicle vehicle in step S606,
Control front vehicle traveling；Correspondingly, front vehicle receives the traveling control message of front vehicles, and root in step S607
According to traveling control message control vehicle traveling.So far, the connection control of this vehicle vehicle and front vehicle is completed, and is taken over to rear
The control of vehicle to realize the linkage automatic Pilot of same link vehicle, avoids congestion caused by artificially driving, improves road and hand over
Logical operational efficiency.
Have the initiative under connection opening in vehicle, when vehicle because the reasons such as arrive at or turn need disconnection and
During the connection of front vehicles, transmission disconnects request message, and front vehicles are given respond in time, and connection disconnects, at this time vehicle
Have the initiative connection closed state.
Specially：When the rearward vehicle request of this vehicle vehicle disconnects, in step S620, rearward vehicle, which is sent, disconnects
Connection request message；Front vehicle receives this and disconnects request message, and in step S622, be based in step S621
This disconnects request message, and vehicle transmission disconnects confirmation message forwards；For this vehicle vehicle in step S623, receiving should
Confirmation message is disconnected, and in step S624, disconnect the connection with front vehicle；Meanwhile front vehicle is in step S625
In, disconnect the connection with front vehicles.This vehicle vehicle and front vehicle set its state for passive access closed state respectively and
Actively access closed state.It can continue step S600 and S601.Proper moment is selected, connects other vehicles, carries out automatic Pilot
Control.
Above-mentioned steps S620-625 is the method flow disconnected by front vehicles request, can also be asked by front vehicle
It disconnects, step is identical with implementation 4.
Fig. 5 shows the switching of four kinds of form patterns of this vehicle vehicle.
mode0：Actively access is closed and passive access closed state；
mode1：Actively access is opened and passive access closed state；
mode2：Actively access is closed and passive access opening；
mode3：Actively access is opened and passive access opening.
It has the initiative under connection closed state in this vehicle vehicle, when this vehicle vehicle is operated on road, before reception comes from
The accessible message of square vehicle broadcast.When this vehicle vehicle judges to meet the condition for establishing connection, such as it can determine whether front vehicles
Travel speed, operating range and this vehicle vehicle match, then by vehicle forwards send connection establish request message initiatively
Connection is established in request.After front vehicles give correct response message, the connection that this vehicle vehicle establishes with front vehicles is completed,
This vehicle vehicle, which enters, at this time actively connects opening.
It has the initiative under connection opening in this vehicle vehicle, when this vehicle vehicle is operated on road, before reception comes from
The traveling control message of square vehicle, and thermoacoustic prime engine is carried out according to the information of traveling control message.
Method according to the present invention, be additionally included in vehicle have the initiative connection open in the state of, in addition to itself travel
Behavior also receives the control of the contained control information of traveling control message that front vehicles transmit, and passively connects when vehicle is in
When connecing in the state of unlatching, traveling control message is unconditionally sent to front vehicle.Therefore, the vehicle for establishing connection will have
There is identical traveling control information, these vehicles for establishing connection will be with traveling behavior identical to the full extent at this time.
As it was noted above, when vehicle is established and front vehicles or when contacting of front vehicle, road according to described rule
The problem of safe distance becomes smaller during the operation of road vehicle, vehicle low running speed obtains a degree of alleviation, therefore phase people having a common goal
Passable vehicle increases in the unit interval of road, and traffic efficiency is improved.
Embodiment 7
Embodiment 7 is the system of the control vehicle traveling of one embodiment of the present invention.Fig. 6 is the control vehicle of embodiment 7
Traveling system structure diagram.As shown in fig. 6, the system of the control vehicle traveling of the embodiment, it, should for this vehicle vehicle
System includes：Sending device 30, for sending accessible message；Reception device 10, for receive the front vehicle in response to
Request message is established in the connection that the accessible message is sent；Control device 20, for what is received based on the reception device 10
Request message is established in connection, and described vehicle vehicle is controlled to establish the connection with the front vehicle；And sending device 30 goes back quilt
It is configured to：Traveling control message is sent to the front vehicle, so that the front vehicle controls message control according to the traveling
Make the front vehicle traveling.
In said program, the sending device 30 is additionally configured to：Request report is disconnected to front vehicle transmission
Text；The reception device 10 is additionally configured to：It receives the front vehicle and disconnects what request message was sent in response to described
Disconnect confirmation message；And the control device 20 is additionally configured to：Connected based on the disconnection that the reception device 10 receives
Confirmation message is connect, described vehicle vehicle is controlled to disconnect the connection with the front vehicle.
In said program, the reception device 10 is additionally configured to：Receiving the disconnecting for front vehicle transmission please
Seek message；The sending device 30 is additionally configured to：In response to disconnecting request report described in the reception device 10 reception
Text disconnects confirmation message to front vehicle transmission；And the control device 20 is additionally configured to：Control described
Vehicle vehicle disconnects the connection with the front vehicle.
In said program, the reception device 10 is additionally configured to：Receive the accessible message from the front vehicles；
The sending device 30 is additionally configured to：In response to the accessible message that the reception device 10 receives, send connection and build
Vertical request message；The control device 20 is additionally configured to：Described vehicle vehicle is controlled to establish the connection with the front vehicles；
And the reception device 10 is additionally configured to：Receive the traveling control message that the front vehicles are sent；And the control
Device is additionally configured to：The traveling control message received according to the reception device controls described vehicle vehicle traveling.
In said program, the sending device 30 is additionally configured to：Request report is disconnected to front vehicles transmission
Text；The reception device 10 is additionally configured to：It receives the front vehicles and disconnects what request message was sent in response to described
Disconnect confirmation message；The control device 20 is additionally configured to：According to the confirmation message that disconnects of the reception, control
Described vehicle vehicle disconnects the connection with the front vehicles.
In said program, the reception device 10 is additionally configured to：Receiving the disconnecting for front vehicles transmission please
Seek message；The sending device 30 is additionally configured to：Request message is disconnected in response to what the reception device received, to institute
It states front vehicles transmission and disconnects confirmation message；The control device 20 is additionally configured to：It is received according to the reception device
Disconnect confirmation message, described vehicle vehicle is controlled to disconnect the connection with the front vehicles.
The device of the control vehicle traveling of embodiment 7 can be for example mounted in driving vehicle, to realize what vehicle was travelled
Control.
The optional embodiment of example of the present invention, still, the embodiment of the present invention and unlimited are described in detail above in association with attached drawing
Detail in the above embodiment, can be to the embodiment of the present invention in the range of the technology design of the embodiment of the present invention
Technical solution carry out a variety of simple variants, these simple variants belong to the protection domain of the embodiment of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case of shield, it can be combined by any suitable means.In order to avoid unnecessary repetition, the embodiment of the present invention pair
Various combinations of possible ways no longer separately illustrate.
It will be appreciated by those skilled in the art that all or part of the steps of the method in the foregoing embodiments are can to pass through
Program is completed to instruct relevant hardware, which is stored in a storage medium, is used including some instructions so that one
A (can be microcontroller, chip etc.) or processor (processor) perform the whole of each embodiment the method for the application
Or part steps.And aforementioned storage medium includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
In addition, arbitrary combination can also be carried out between a variety of different embodiments of the embodiment of the present invention, as long as it is not
The thought of the embodiment of the present invention is violated, should equally be considered as disclosure of that of the embodiment of the present invention.
Claims (10)
1. the method for a kind of vehicle vehicle control front vehicle traveling, this method include：
It sends and can access message；
It receives the connection that the front vehicle is sent in response to the accessible message and establishes request message；
Request message is established in connection based on the reception, establishes the connection with the front vehicle；And
Traveling control message is sent to the front vehicle, the front vehicle is controlled to travel.
2. according to the method described in claim 1, this method further includes：
Request message is disconnected to front vehicle transmission；
Receive the front vehicle in response to it is described disconnect request message transmission disconnect confirmation message；And
Based on the confirmation message that disconnects received, the connection with the front vehicle is disconnected.
3. according to the method described in claim 1, this method further includes：
Receive the front vehicle transmission disconnects request message；
In response to disconnecting request message described in being received, confirmation message is disconnected to front vehicle transmission；With
And
Disconnect the connection with the front vehicle.
4. according to the method described in claim 1, this method further includes：
After establishing the connection with the front vehicle, stop sending the accessible message.
5. a kind of front vehicles control the method that this vehicle vehicle travels, for this vehicle vehicle, this method includes：
Receive the accessible message from front vehicles；
In response to the accessible message of reception, send connection and establish request message；
Establish the connection with the front vehicles；And
The traveling control message that the front vehicles are sent is received, message is controlled to control described vehicle vehicle row according to the traveling
It sails.
6. according to the method described in claim 5, this method further includes：
Request message is disconnected to front vehicles transmission；
Receive the front vehicles in response to this disconnect request message transmission disconnect confirmation message；
The confirmation message that disconnects based on the reception disconnects the connection with the front vehicles.
7. according to the method described in claim 5, this method further includes：
Receive the front vehicles transmission disconnects request message；
Request message is disconnected in response to the reception, confirmation message is disconnected to front vehicles transmission；
The confirmation message that disconnects based on the reception disconnects the connection with the front vehicles.
8. a kind of system for controlling vehicle traveling, for this vehicle vehicle, which includes：
Sending device, for sending accessible message；
Reception device establishes request message for receiving the connection that the front vehicle is sent in response to the accessible message；
Request message is established in control device, the connection for being received based on the reception device, and described vehicle vehicle is controlled to establish
With the connection of the front vehicle；And
Sending device is additionally configured to：To the front vehicle send traveling control message so that the front vehicle according to
Traveling control message controls the front vehicle traveling.
9. system according to claim 8, wherein, the sending device is additionally configured to：It is sent to the front vehicle
Disconnect request message；
The reception device is additionally configured to：It receives the front vehicle and disconnects the disconnected of request message transmission in response to described
Open connection confirmation message；And
The control device is additionally configured to：Confirmation message is disconnected based on what the reception device received, controls described
Vehicle vehicle disconnects the connection with the front vehicle；
The reception device is additionally configured to：Receive the front vehicle transmission disconnects request message；
The sending device is additionally configured to：In response to disconnecting request message described in reception device reception, to institute
It states front vehicle transmission and disconnects confirmation message；And
The control device is additionally configured to：Described vehicle vehicle is controlled to disconnect the connection with the front vehicle；
Wherein, the reception device is additionally configured to：Receive the accessible message from the front vehicles；
The sending device is additionally configured to：In response to the accessible message that the reception device receives, send connection and build
Vertical request message；
The control device is additionally configured to：Described vehicle vehicle is controlled to establish the connection with the front vehicles；And
The reception device is additionally configured to：Receive the traveling control message that the front vehicles are sent；And
The control device is additionally configured to：The traveling control message received according to the reception device controls described vehicle vehicle
Traveling.
10. system according to claim 8, wherein, the sending device is additionally configured to：It is sent to the front vehicles
Disconnect request message；
The reception device is additionally configured to：It receives the front vehicles and disconnects the disconnected of request message transmission in response to described
Open connection confirmation message；
The control device is additionally configured to：According to the confirmation message that disconnects of the reception, described vehicle vehicle of control breaks
Open the connection with the front vehicles；
Wherein, the reception device is additionally configured to：Receive the front vehicles transmission disconnects request message；
The sending device is additionally configured to：Request message is disconnected in response to what the reception device received, before described
Square vehicle transmission disconnects confirmation message；
The control device is additionally configured to：Confirmation message is disconnected according to what the reception device received, controls described
Vehicle vehicle disconnects the connection with the front vehicles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611255838.0A CN108269415A (en) | 2016-12-30 | 2016-12-30 | Control the method and system of vehicle traveling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201611255838.0A CN108269415A (en) | 2016-12-30 | 2016-12-30 | Control the method and system of vehicle traveling |
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| CN108269415A true CN108269415A (en) | 2018-07-10 |
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| CN201611255838.0A Pending CN108269415A (en) | 2016-12-30 | 2016-12-30 | Control the method and system of vehicle traveling |
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Citations (3)
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| CN104960524A (en) * | 2015-07-16 | 2015-10-07 | 北京航空航天大学 | Multi-vehicle coordinating lane changing control system and method based on vehicle-vehicle communication |
| CN106004860A (en) * | 2015-03-31 | 2016-10-12 | 丰田自动车株式会社 | Vehicle traveling control device |
| US20160297436A1 (en) * | 2015-04-09 | 2016-10-13 | Hyundai Motor Company | Apparatus and method for identifying surrounding vehicles |
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2016
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106004860A (en) * | 2015-03-31 | 2016-10-12 | 丰田自动车株式会社 | Vehicle traveling control device |
| US20160297436A1 (en) * | 2015-04-09 | 2016-10-13 | Hyundai Motor Company | Apparatus and method for identifying surrounding vehicles |
| CN104960524A (en) * | 2015-07-16 | 2015-10-07 | 北京航空航天大学 | Multi-vehicle coordinating lane changing control system and method based on vehicle-vehicle communication |
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