CN108973999A - A kind of vehicle driving interval controlling method and autonomous driving vehicle - Google Patents
A kind of vehicle driving interval controlling method and autonomous driving vehicle Download PDFInfo
- Publication number
- CN108973999A CN108973999A CN201810916876.9A CN201810916876A CN108973999A CN 108973999 A CN108973999 A CN 108973999A CN 201810916876 A CN201810916876 A CN 201810916876A CN 108973999 A CN108973999 A CN 108973999A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- front truck
- spacing
- power output
- output level
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000012544 monitoring process Methods 0.000 claims abstract description 9
- 210000005036 nerve Anatomy 0.000 claims description 3
- 238000004891 communication Methods 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 240000008042 Zea mays Species 0.000 description 1
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 description 1
- 235000002017 Zea mays subsp mays Nutrition 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 235000005822 corn Nutrition 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Regulating Braking Force (AREA)
- Traffic Control Systems (AREA)
Abstract
This application provides a kind of vehicle driving interval controlling method and autonomous driving vehicles, can accurately and effectively control vehicle driving spacing.This method comprises: passing through the spacing of trailer-mounted radar monitoring and front truck；Equipment obtains front truck braking information by wireless communication；This vehicle braking scheme is obtained according to above-mentioned spacing and above-mentioned front truck braking information；This vehicle current brake is controlled according to above-mentioned vehicle braking scheme.
Description
Technical field
The application belongs to automatic Pilot field, and in particular to a kind of vehicle driving interval controlling method and automatic Pilot vapour
Vehicle.
Background technique
With the continuous development of auto industry, automatic driving vehicle has become pair that all big enterprises at present are paid close attention to
As.But in current developmental stage, realize complete unmanned there are also certain distance, and the automatic Pilot of part also can be
Largely mitigate the fatigue of driver and improves travel safety under specific circumstances.And it is travelled in various automatic Pilots
Among operating condition, the queue of vehicle follows traveling to be most often can be there is a situation where.In this case, between the traveling between vehicle
Just become the very corn of a subject element away from control.
Major part automotive vehicle traveling spacing control program is that front truck information is obtained by radar at present, for example, relatively
Speed, when then issuing the corresponding instruction followed safely according to the information of acquisition in distance, acceleration etc..
But the front truck information got by radar, it is excessively single, it cannot usually be provided according to information single in this way
Accurately and effectively safety follows instruction.
Summary of the invention
The purpose of the application is to provide a kind of vehicle driving interval controlling method and autonomous driving vehicle, can accurately have
Effect ground controls vehicle driving spacing.
To realize above-mentioned application purpose, the application is the technical scheme adopted is that a kind of vehicle driving spacing controlling party
Method, the method are applied to the automatic driving vehicle including trailer-mounted radar and wireless telecom equipment, which comprises
Pass through the spacing of trailer-mounted radar monitoring and front truck；
Front truck braking information is obtained by the wireless telecom equipment；
This vehicle braking scheme is obtained according to the spacing and the front truck braking information；
This vehicle current brake is controlled according to described vehicle braking scheme.
Optionally, described that front truck braking information is obtained by the wireless telecom equipment, including, pass through the channel radio
Believe that equipment obtains front truck current power output level and front truck stopping power grade；It is described according to the spacing and the front truck
Braking information obtains this vehicle braking scheme, including, according to the spacing, the front truck current power output level, the front truck
Stopping power grade and this vehicle stopping power grade, select this vehicle current power output level；It is described according to described vehicle system
Dynamic scheme controls this vehicle current brake, including, this vehicle is currently made according to described vehicle current power output level
It is dynamic to be controlled.
Optionally, described according to the spacing, the front truck current power output level, described front truck stopping power etc.
Grade and this vehicle stopping power grade, select this vehicle current power output level, comprising: by the spacing and target with workshop
Away from being compared, according to spacing comparison result, the front truck current power output level, the front truck stopping power grade with
And this vehicle stopping power grade, select this vehicle current power output level.
Optionally, described to be compared the spacing with following distance with target, according to spacing comparison result, it is described before
Vehicle current power output level, the front truck stopping power grade and this vehicle stopping power grade, select this vehicle current power
Output level, comprising: in the case where the spacing and target are less than first threshold with the absolute value of the difference of following distance, choosing
It selects and brakes this vehicle current power output level to match with front truck；Alternatively, in the spacing and target with the difference of following distance
In the case where more than or equal to first threshold, this vehicle current power output level is selected to keep the braking of this vehicle brake percentage front truck bigger；
Alternatively, selecting this vehicle current power in the case where target is more than or equal to first threshold with the difference of following distance and the spacing
Output level keeps the braking of this vehicle brake percentage front truck smaller.
Optionally, described according to spacing comparison result, the front truck current power output level, the front truck Brake Energy
Power grade and this vehicle stopping power grade, select this vehicle current power output level, comprising: by the spacing comparison result,
The front truck current power output level, the front truck stopping power grade and this vehicle stopping power grade input power grade
Other preference pattern obtains this vehicle current power output level；The power rank preference pattern is the power output to different vehicles
The artificial neural network mould that the case where rank, stopping power grade and different spacing comparison results is learnt and trained
Type.
Optionally, the method also includes: pass through the wireless telecom equipment obtain front truck send traffic information；Institute
It states and this vehicle braking scheme is obtained according to the spacing and the front truck braking information, comprising: according to the spacing and the front truck
Braking information and the traffic information obtain this vehicle braking scheme.
Optionally, before the acquisition front truck braking information by the wireless telecom equipment, the method is also wrapped
It includes: in the case where the spacing is less than safe spacing, directly adjusting this vehicle current power output level until the spacing is big
Until being equal to the safe spacing.
On the other hand, present invention also provides a kind of automatic driving vehicles, comprising: trailer-mounted radar, wireless telecom equipment,
Controller and brake module；
The trailer-mounted radar, for monitoring and the spacing of front truck；
The wireless telecom equipment, for obtaining front truck braking information；
The controller, for obtaining this vehicle braking scheme according to the spacing and the front truck braking information；
The brake module, for being controlled according to described vehicle braking scheme this vehicle current brake.
Optionally, the wireless telecom equipment is specifically used for obtaining front truck current power output level and front truck Brake Energy
Power grade；The controller is specifically used for being braked according to the spacing, the front truck current power output level, the front truck
Ability rating and this vehicle stopping power grade, select this vehicle current power output level；The brake module, is specifically used for
This vehicle current brake is controlled according to described vehicle current power output level.
Optionally, the controller, specifically for the spacing to be compared with target with following distance, according to spacing
Comparison result, the front truck current power output level, the front truck stopping power grade and this vehicle stopping power grade,
Select this vehicle current power output level.
The application has the advantages that
In this application, not only by the spacing of trailer-mounted radar monitoring and front truck, before also equipment obtains by wireless communication
Vehicle brake condition；This vehicle braking scheme is formulated according to the feedback information of these two aspects.So supervised compared with single pass trailer-mounted radar
Survey the prepared braking scheme of the spacing more accurate and effective with front truck.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of vehicle driving interval controlling method disclosed in the present application；
Fig. 2 is the schematic diagram of another vehicle driving interval controlling method disclosed in the present application；
Fig. 3 is the structural schematic diagram of automatic driving vehicle disclosed in the present application.
Specific embodiment
As shown in FIG. 1, FIG. 1 is a kind of vehicle driving interval controlling methods disclosed in the present application.This method is applied to application
In the automatic driving vehicle including trailer-mounted radar and wireless telecom equipment, this method comprises:
101, pass through the spacing of trailer-mounted radar monitoring and front truck.
102, equipment obtains front truck braking information by wireless communication.
103, this vehicle braking scheme is obtained according to above-mentioned spacing and above-mentioned front truck braking information.
104, this vehicle current brake is controlled according to above-mentioned vehicle braking scheme.
In the present embodiment, trailer-mounted radar is the millimetre-wave radar for being generally mounted to automobile head, for real-time detection with
The spacing of front truck.Wireless telecom equipment is used to construct the wireless communication between front car and rear car, for example front truck can be sent out to rear car
The front road conditions etc. that the current power output ratings of front truck, front truck model and front truck are detected out.Trailer-mounted radar and wireless
Communication equipment information obtained is all transferred to the controller of vehicle, and controller can formulate the braking of this vehicle according to these information
Scheme.
In the present embodiment, front truck braking information includes front truck current power output level and front truck stopping power etc.
Grade.Every frame automobile can choose the different grades of power of output, for example front truck is the automobile of 001 model, it can be from small to large
The power of 1-7 rank is exported, 1-7 is the power output rank of front truck 001 here.There are different businessman's productions on the market not
With the automobile of model, also superiority and inferiority is different for the stopping power of every kind of car model, and stopping power grade is to all car models
The classification that stopping power superiority and inferiority carries out, such as the corresponding stopping power grade of the automobile also not phase of 001-008 this 8 models
Together, wherein 001 and 002 belongs to the stopping powers automobile such as 1,003 and 004 belongs to the stopping powers automobiles such as 2, and 005 and 006 belongs to 3
Etc. stopping powers automobile, 007 and 008 belongs to the stopping powers automobiles such as 4.
As shown in table 1, the line number in figure represents automobile brake ability grade Cj, i.e., by the Brake Energy of all automobiles in figure
Power grade is divided into 1-5 etc. from high to low；Columns in figure represents automobile power output level Ci, i.e., on the way by each grade
The power categories that automobile can be output are divided into 1-7 grades from low to high.The relationship that Fig. 2 can be found out by actual data analysis, than
Such as, the i+1 rank power output phase of Cij=Ci+1j-1, i.e. the i rank power output of j grade automobile and j-1 grade automobile
Matching.What relationship Cij=Ci+1j-1 here was assumed that, specifically will the analysis Jing Guo real data obtain specific rule.
A kind of automobile brake information of table 1
Therefore, as shown in Fig. 2, disclosed herein as well is another vehicle driving interval controlling methods, this method comprises:
201, pass through the spacing of trailer-mounted radar monitoring and front truck.
202, equipment obtains front truck current power output level and front truck stopping power grade by wireless communication.
203, according to above-mentioned spacing, above-mentioned front truck current power output level, above-mentioned front truck stopping power grade and sheet
Vehicle stopping power grade selects this vehicle current power output level.
204, this vehicle current brake is controlled according to above-mentioned vehicle current power output level.
As an alternative embodiment, spacing is compared with target with following distance, knot is compared according to spacing
Fruit, front truck current power output level, front truck stopping power grade and this vehicle stopping power grade, select this vehicle currently to move
Power output level.
In the case where the absolute value of above-mentioned spacing and the difference of target spacing is less than first threshold, selection and front truck system
Dynamic this vehicle current power output level to match.Here first threshold can be by those skilled in the art as the case may be
Setting, " absolute value of the difference of above-mentioned spacing and target spacing be less than first threshold " i.e. above-mentioned spacing (with preceding following distance) and
Target is not much different with following distance.It is exemplified by Table 1, is not much different in above-mentioned spacing (with preceding following distance) and target with following distance
In the case where, it can it keeps continuing follow the bus with following distance.If the stopping power grade of this vehicle is 2 grades, if by upper
Stating wireless telecom equipment and getting the stopping power grade of front truck is 3 grades, and the power rank currently exported is 4 grades.In order to
The spacing that front truck continues to keep current carries out follow the bus, can select this vehicle current power according to above-mentioned relation Cij=Ci+1j-1
Output level is 5 grades.
In the case where above-mentioned spacing and target are more than or equal to first threshold with the difference of following distance, select this vehicle current
Power output rank keeps the braking of this vehicle brake percentage front truck bigger.Here " above-mentioned spacing and target are greater than with the difference of following distance
Equal to first threshold " i.e. above-mentioned spacing (with preceding following distance) is bigger with following distance than target.Be exemplified by Table 1, above-mentioned spacing (with
Preceding following distance) than target with following distance it is big in the case where, that is, need shorten with following distance carry out follow the bus, if the braking of this vehicle
Ability rating is 2 grades, if it is 3 grades by the stopping power grade that above-mentioned wireless telecom equipment gets front truck, it is current
The power rank of output is 4 grades, carries out follow the bus to shorten spacing with front truck, then can choose this vehicle current power output stage
It Wei not be 6 or 7 grades.
In the case where target is more than or equal to first threshold with the difference of following distance and above-mentioned spacing, select this vehicle current
Power output rank keeps the braking of this vehicle brake percentage front truck smaller." target is more than or equal to the with the difference of following distance and above-mentioned spacing
One threshold value " is i.e. currently and leading vehicle distance is smaller with following distance than target.It is exemplified by Table 1, in current and leading vehicle distance than target follow the bus
In closely spaced situation, that is, need to widen with following distance, if the stopping power grade of this vehicle is 2 grades, if by above-mentioned
Wireless telecom equipment get front truck stopping power grade be 3 grades, the power rank currently exported be 4 grades, in order to it is preceding
Vehicle increases spacing and carries out follow the bus, then can choose this vehicle current power output level is any level in 1-4 grades.
As a kind of optional embodiment, by above-mentioned spacing comparison result, front truck current power output level, front truck system
Kinetic force grade and this vehicle stopping power grade input power rank preference pattern, obtain this vehicle current power output level；
The power rank preference pattern is to the power output rank of different vehicles, stopping power grade and different spacing comparison results
The case where the artificial nerve network model that is learnt and trained.
In the present embodiment, above-mentioned power rank preference pattern can judge current need according to spacing comparison result
It keeps, shorten or increasing following distance, and according to the corresponding relationship of automobile brake ability grade and power output rank
Select this vehicle current power output level.
As an alternative embodiment, the above method further include: equipment obtains what front truck was sent by wireless communication
Traffic information；This vehicle braking scheme is obtained according to spacing and front truck brake condition, comprising: according to spacing and front truck brake condition
And traffic information obtains this vehicle braking scheme.
In the present embodiment, front truck can detect front road conditions by equipment such as trailer-mounted radars, for example, road surface ahead
The wet and slippery, traffic informations such as road ahead is narrow, obtaining these information can allow this vehicle to recognize that Ben Che is also undetectable in advance
Front road conditions play certain auxiliaring effect to this vehicle braking scheme is formulated.
As an alternative embodiment, before equipment by wireless communication obtains front truck brake condition, above-mentioned side
Method further include: in the case where above-mentioned spacing is less than safe spacing, directly adjust this vehicle current power output level until above-mentioned
Until spacing is more than or equal to safe spacing.
It is appreciated that addition is very close with the spacing of front truck, in the case where soon knocking, at this time again
Any front truck brake condition obtained by wireless device is all nonsensical, it should the output of this vehicle current power be immediately controlled
Rank, it may be necessary to which the rank that outputs power is reduced to zero, avoids colliding with front truck in time.Be greater than in above-mentioned spacing etc.
This vehicle braking scheme is obtained further according to spacing and front truck brake condition after safe spacing.
As shown in figure 3, present invention also provides a kind of automatic driving vehicles 300, comprising: trailer-mounted radar 310, channel radio
Believe equipment 320, controller 330 and brake module 340；
Trailer-mounted radar 310, for monitoring and the spacing of front truck；
Wireless telecom equipment 320, for obtaining front truck braking information；
Controller 330, for obtaining this vehicle braking scheme according to the spacing and the front truck braking information；
Brake module 340, for being controlled according to described vehicle braking scheme this vehicle current brake.
Here the vehicle traveling spacing control implementation method and above-mentioned method shown in FIG. 1 of automatic driving vehicle 300
Similar, which is not described herein again.
As an alternative embodiment, wireless telecom equipment 320, is specifically used for obtaining the output of front truck current power
Rank and front truck stopping power grade；Controller 330 is specifically used for according to the spacing, the front truck current power output stage
Not, the front truck stopping power grade and this vehicle stopping power grade, select this vehicle current power output level；Brake mould
Block 340, specifically for being controlled according to described vehicle current power output level this vehicle current brake.
As an alternative embodiment, controller 330, be specifically used for by the spacing and target with following distance into
It is capable to compare, according to spacing comparison result, the front truck current power output level, the front truck stopping power grade and sheet
Vehicle stopping power grade selects this vehicle current power output level.
As an alternative embodiment, controller 330, specifically in the spacing and target with following distance
In the case that the absolute value of difference is less than first threshold, selection brakes this vehicle current power output level to match with front truck；
Alternatively, selecting this vehicle current power in the case where the spacing and target are more than or equal to first threshold with the difference of following distance
Output level keeps the braking of this vehicle brake percentage front truck bigger；Alternatively, being more than or equal in target with following distance and the difference of the spacing
In the case where first threshold, this vehicle current power output level is selected to keep the braking of this vehicle brake percentage front truck smaller.
As an alternative embodiment, controller 330, is specifically used for the spacing comparison result, the front truck
Current power output level, the front truck stopping power grade and this vehicle stopping power grade input power rank select mould
Type obtains this vehicle current power output level；The power rank preference pattern is power output rank, the system to different vehicles
The artificial nerve network model that the case where kinetic force grade and different spacing comparison results is learnt and trained.
As an alternative embodiment, wireless telecom equipment 320, is specifically also used to obtain the road conditions of front truck transmission
Information；Controller 330, specifically for obtaining this according to the spacing and the front truck braking information and the traffic information
Vehicle braking scheme.
As an alternative embodiment, controller 330, specifically for being less than the feelings of safe spacing in the spacing
Under condition, this vehicle current power output level is directly adjusted until the spacing is more than or equal to the safe spacing.
It is the embodiment of the embodiment of the present invention above, it is noted that those skilled in the art are come
It says, without departing from the principles of the embodiments of the present invention, several improvements and modifications can also be made, these improvements and modifications
Also it is considered as protection scope of the present invention.
Claims (10)
1. a kind of vehicle driving interval controlling method, which comprises
Pass through the spacing of trailer-mounted radar monitoring and front truck；
Front truck braking information is obtained by the wireless telecom equipment；
This vehicle braking scheme is obtained according to the spacing and the front truck braking information；
This vehicle current brake is controlled according to described vehicle braking scheme.
2. the method according to claim 1, wherein
It is described that front truck braking information is obtained by the wireless telecom equipment, including,
Front truck current power output level and front truck stopping power grade are obtained by the wireless telecom equipment；
It is described that this vehicle braking scheme is obtained according to the spacing and the front truck braking information, including,
According to the spacing, the front truck current power output level, the front truck stopping power grade and this vehicle Brake Energy
Power grade selects this vehicle current power output level；
It is described that this vehicle current brake is controlled according to described vehicle braking scheme, including,
This vehicle current brake is controlled according to described vehicle current power output level.
3. according to the method described in claim 2, it is characterized in that, described defeated according to the spacing, the front truck current power
Rank, the front truck stopping power grade and this vehicle stopping power grade out select this vehicle current power output level, packet
It includes:
The spacing is compared with target with following distance, according to spacing comparison result, the front truck current power output stage
Not, the front truck stopping power grade and this vehicle stopping power grade, select this vehicle current power output level.
4. according to the method described in claim 3, it is characterized in that, described compare the spacing and target with following distance
Compared with according to the braking of spacing comparison result, the front truck current power output level, the front truck stopping power grade and this vehicle
Ability rating selects this vehicle current power output level, comprising:
In the case where the spacing and target are less than first threshold with the absolute value of the difference of following distance, selection is braked with front truck
This vehicle current power output level to match；
Alternatively, selecting this vehicle current in the case where the spacing and target are more than or equal to first threshold with the difference of following distance
Power output rank keeps the braking of this vehicle brake percentage front truck bigger；
Alternatively, selecting this vehicle current in the case where target is more than or equal to first threshold with the difference of following distance and the spacing
Power output rank keeps the braking of this vehicle brake percentage front truck smaller.
5. according to the method described in claim 3, it is characterized in that, described currently move according to spacing comparison result, the front truck
Power output level, the front truck stopping power grade and this vehicle stopping power grade, select this vehicle current power output level,
Include:
By the spacing comparison result, the front truck current power output level, the front truck stopping power grade and this vehicle
Stopping power grade input power rank preference pattern, obtains this vehicle current power output level；
The power rank preference pattern is to compare the power output rank of different vehicles, stopping power grade and different spacing
As a result the artificial nerve network model that the case where is learnt and trained.
6. the method according to claim 1, wherein the method also includes:
The traffic information that front truck is sent is obtained by the wireless telecom equipment；
It is described that this vehicle braking scheme is obtained according to the spacing and the front truck braking information, comprising:
This vehicle braking scheme is obtained according to the spacing and the front truck braking information and the traffic information.
7. the method according to claim 1, wherein obtaining front truck system by the wireless telecom equipment described
Before dynamic information, the method also includes:
In the case where the spacing is less than safe spacing, this vehicle current power output level is directly adjusted until the spacing is big
Until being equal to the safe spacing.
8. a kind of autonomous driving vehicle characterized by comprising trailer-mounted radar, wireless telecom equipment, controller and braking mould
Block；
The trailer-mounted radar, for monitoring and the spacing of front truck；
The wireless telecom equipment, for obtaining front truck braking information；
The controller, for obtaining this vehicle braking scheme according to the spacing and the front truck braking information；
The brake module, for being controlled according to described vehicle braking scheme this vehicle current brake.
9. autonomous driving vehicle according to claim 8, which is characterized in that
The wireless telecom equipment is specifically used for obtaining front truck current power output level and front truck stopping power grade；
The controller is specifically used for according to the spacing, the front truck current power output level, the front truck stopping power
Grade and this vehicle stopping power grade, select this vehicle current power output level；
The brake module, specifically for being controlled according to described vehicle current power output level this vehicle current brake.
10. autonomous driving vehicle according to claim 9, which is characterized in that
The controller, specifically for the spacing to be compared with target with following distance, according to spacing comparison result, described
Front truck current power output level, the front truck stopping power grade and this vehicle stopping power grade, select this vehicle currently to move
Power output level.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810916876.9A CN108973999A (en) | 2018-08-13 | 2018-08-13 | A kind of vehicle driving interval controlling method and autonomous driving vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810916876.9A CN108973999A (en) | 2018-08-13 | 2018-08-13 | A kind of vehicle driving interval controlling method and autonomous driving vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108973999A true CN108973999A (en) | 2018-12-11 |
Family
ID=64553221
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810916876.9A Pending CN108973999A (en) | 2018-08-13 | 2018-08-13 | A kind of vehicle driving interval controlling method and autonomous driving vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108973999A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109733347A (en) * | 2019-01-28 | 2019-05-10 | 东南大学 | A kind of longitudinal collision avoidance control method of coupled |
| CN111776018A (en) * | 2020-06-29 | 2020-10-16 | 交控科技股份有限公司 | Train formation tracking control method and device |
| CN111994077A (en) * | 2020-08-31 | 2020-11-27 | 安徽江淮汽车集团股份有限公司 | Queue driving method, vehicle and system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070150134A1 (en) * | 2005-12-26 | 2007-06-28 | Aisin Aw Co., Ltd | Driving support systems, methods, and programs |
| CN102616235A (en) * | 2012-04-09 | 2012-08-01 | 北京航空航天大学 | Cooperative anti-collision device based on vehicle-vehicle communication and anti-collision method |
| CN104751677A (en) * | 2013-12-27 | 2015-07-01 | 上海博泰悦臻网络技术服务有限公司 | Vehicle collision alarm method and system |
| CN105894858A (en) * | 2016-06-30 | 2016-08-24 | 重庆长安汽车股份有限公司 | Emergent vehicle brake early warning system |
| CN106080600A (en) * | 2016-06-30 | 2016-11-09 | 深圳市赛格导航科技股份有限公司 | A kind of automobile distant-control system based on V2V and method |
| JP2018086939A (en) * | 2016-11-29 | 2018-06-07 | 本田技研工業株式会社 | Vehicle control device, vehicle control method, and vehicle control program |
-
2018
- 2018-08-13 CN CN201810916876.9A patent/CN108973999A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070150134A1 (en) * | 2005-12-26 | 2007-06-28 | Aisin Aw Co., Ltd | Driving support systems, methods, and programs |
| CN102616235A (en) * | 2012-04-09 | 2012-08-01 | 北京航空航天大学 | Cooperative anti-collision device based on vehicle-vehicle communication and anti-collision method |
| CN104751677A (en) * | 2013-12-27 | 2015-07-01 | 上海博泰悦臻网络技术服务有限公司 | Vehicle collision alarm method and system |
| CN105894858A (en) * | 2016-06-30 | 2016-08-24 | 重庆长安汽车股份有限公司 | Emergent vehicle brake early warning system |
| CN106080600A (en) * | 2016-06-30 | 2016-11-09 | 深圳市赛格导航科技股份有限公司 | A kind of automobile distant-control system based on V2V and method |
| JP2018086939A (en) * | 2016-11-29 | 2018-06-07 | 本田技研工業株式会社 | Vehicle control device, vehicle control method, and vehicle control program |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109733347A (en) * | 2019-01-28 | 2019-05-10 | 东南大学 | A kind of longitudinal collision avoidance control method of coupled |
| CN109733347B (en) * | 2019-01-28 | 2020-03-31 | 东南大学 | Man-machine coupled longitudinal collision avoidance control method |
| CN111776018A (en) * | 2020-06-29 | 2020-10-16 | 交控科技股份有限公司 | Train formation tracking control method and device |
| US11958518B2 (en) | 2020-06-29 | 2024-04-16 | Traffic Control Technology Co., Ltd. | Method and device for controlling train formation tracking |
| CN111994077A (en) * | 2020-08-31 | 2020-11-27 | 安徽江淮汽车集团股份有限公司 | Queue driving method, vehicle and system |
| CN111994077B (en) * | 2020-08-31 | 2021-10-29 | 安徽江淮汽车集团股份有限公司 | Queue driving method, vehicle and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10474166B2 (en) | System and method for implementing pre-cognition braking and/or avoiding or mitigation risks among platooning vehicles | |
| US11294396B2 (en) | System and method for implementing pre-cognition braking and/or avoiding or mitigation risks among platooning vehicles | |
| US9669833B2 (en) | Method and system for operating adaptive cruise control system | |
| CN111433700B (en) | Method for moving a vehicle fleet on the basis of a predefinable overall operating strategy associated with the vehicle fleet | |
| US10065637B2 (en) | Method for avoiding a collision of a vehicle with an object | |
| US10286900B2 (en) | Intelligent driving system with an embedded driver model | |
| US8265850B2 (en) | Method and apparatus for target vehicle following control for adaptive cruise control | |
| US9771070B2 (en) | Method and system for controlling a host vehicle | |
| DE102013222880A1 (en) | Active safety system and method of operating the same | |
| CN108973999A (en) | A kind of vehicle driving interval controlling method and autonomous driving vehicle | |
| CN104724103A (en) | Inter-vehicle control apparatus and inter-vehicle control method | |
| CN107406077A (en) | The method in gap between vehicle in control fleet | |
| DE102010028637A1 (en) | Coupling method for electronically coupling two motor vehicles, involves using vehicle property information for coupling of two vehicles, where vehicle property for one vehicle influences resulting aerodynamic drag for another vehicle | |
| CN109177972B (en) | Vehicle flexible collision avoidance system and control method thereof | |
| CN105083243A (en) | Method for controlling braking force of brake according to velocity | |
| CN109572689B (en) | Whole vehicle control method and system based on obstacle recognition by radar | |
| CN103269935A (en) | Vehicular driving assist apparatus, method, and vehicle | |
| Ko et al. | Cooperative adaptive cruise control using turn signal for smooth and safe cut-in | |
| CN103561990A (en) | Driver interaction pertaining to reference-speed-regulating cruise control | |
| CN107097773A (en) | A kind of overtake other vehicles householder method and system for vehicle | |
| DE102015205673A1 (en) | Method for operating a brake assistant in a motor vehicle | |
| JP2018526267A (en) | Emergency brake assistant for vehicles | |
| DE102015214538A1 (en) | Driver assistance system for adjusting the braking force of an electric recuperation brake of a vehicle | |
| EP3611068A1 (en) | Driving assistance method and device, and vehicle | |
| US20230054037A1 (en) | System and method for implementing precognition braking and/or avoiding or mitigation risks among platooning vehicles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181211 |
|
| RJ01 | Rejection of invention patent application after publication |