CN109559000A - A kind of vehicle platoon travel control method and management platform - Google Patents
A kind of vehicle platoon travel control method and management platform Download PDFInfo
- Publication number
- CN109559000A CN109559000A CN201710885105.3A CN201710885105A CN109559000A CN 109559000 A CN109559000 A CN 109559000A CN 201710885105 A CN201710885105 A CN 201710885105A CN 109559000 A CN109559000 A CN 109559000A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- post
- request
- queue
- leave
- 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 37
- 230000001360 synchronised effect Effects 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 6
- 230000015572 biosynthetic process Effects 0.000 abstract description 4
- 230000001133 acceleration Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 11
- 230000009467 reduction Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- WHGYBXFWUBPSRW-FOUAGVGXSA-N beta-cyclodextrin Chemical compound OC[C@H]([C@H]([C@@H]([C@H]1O)O)O[C@H]2O[C@@H]([C@@H](O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O[C@H]3O[C@H](CO)[C@H]([C@@H]([C@H]3O)O)O3)[C@H](O)[C@H]2O)CO)O[C@@H]1O[C@H]1[C@H](O)[C@@H](O)[C@@H]3O[C@@H]1CO WHGYBXFWUBPSRW-FOUAGVGXSA-N 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/40—Business processes related to the transportation industry
Landscapes
- Business, Economics & Management (AREA)
- Human Resources & Organizations (AREA)
- Engineering & Computer Science (AREA)
- Economics (AREA)
- Strategic Management (AREA)
- Tourism & Hospitality (AREA)
- Theoretical Computer Science (AREA)
- Entrepreneurship & Innovation (AREA)
- General Physics & Mathematics (AREA)
- Marketing (AREA)
- General Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Quality & Reliability (AREA)
- Operations Research (AREA)
- Game Theory and Decision Science (AREA)
- Development Economics (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Primary Health Care (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
- Controls For Constant Speed Travelling (AREA)
Abstract
The present invention relates to a kind of vehicle platoon travel control methods and management platform, dequeue request of the present invention for vehicle in ride queues, first reduce dequeue request vehicle and the behind speed of vehicle, and request leave one's post the relative distance of vehicle front truck adjacent thereto and adjacent rear car be all larger than safe distance when, the vehicle that allows to request to leave one's post is left one's post.After the vehicle that all requests are left one's post is left one's post, the remaining vehicle progress platoon driving for reducing speed traveling of first control forms an individual queue, queue acceleration is controlled again, with request leave one's post vehicle front traveling vehicle merges, carry out platoon driving, merge formation one queue.Platoon driving control method of the invention can not only realize the control of leaving one's post for travelling vehicle on the way, moreover it is possible to which the Some vehicles after vehicle is left one's post carry out platoon driving immediately and accelerate, and ultimately form the queue of an entirety, realize better fuel-saving efficiency.
Description
Technical field
The invention belongs to Vehicular intelligent control technology fields, and in particular to a kind of vehicle platoon travel control method and management
Platform.
Background technique
With a series of laws, industry such as " Paris climate change agreement ", " energy conservation and new-energy automobile Technology Roadmap "
The promulgation of guiding opinion, the attribute of vehicle energy saving environmental protection, which seems, to become more and more important.At the same time, vehicle intellectualized, net connectionization hair
Exhibition trend, and new direction is provided for automobile energy-saving technology development.
Main resistance when high-speed working condition, when windage is running car.It mainly organizes the pressure difference as automobile front and rear surfaces
The difference for the negative pressure that the positive pressure and tail portion that resistance, i.e. front are subject to are subject to.Dependent on intelligent and net connectionization technology, can ensure to pacify
In the case where complete, the platoon driving of vehicle is realized.By using the technical solution of platoon driving, by between front car and rear car away from
From the windages that can substantially reduce all participation vehicle platoons in a certain range are kept, to reduce oil consumption.Correlative study
Show the technology rate of economizing gasoline 5%~10%.In addition, passing through platoon driving, moreover it is possible to reduce random lane change on highway, surpass
The phenomenon that vehicle, reduces the probability that safety accident occurs.
The key of platoon driving technology is under the premise of ensureing fleet's driving safety, between reducing between vehicle and vehicle as far as possible
Away to realize better fuel-saving efficiency.And existing vehicle platoon driving process is just for same queue, and the vehicle in queue
Constant, the destination of all vehicles in queue is all the same, cannot be according to certainly when the vehicle Iterim Change plan travelled in queue
Oneself needs to leave queue, can not achieve intelligence and leaves one's post, is unfavorable for being widely applied for platoon driving technology.
Summary of the invention
The object of the present invention is to provide a kind of vehicle platoon travel control methods and management platform, for solving existing queue
Traveling technology cannot achieve intelligent the problem of controlling of leaving one's post.
In order to solve the above technical problems, the present invention proposes a kind of vehicle platoon travel control method, including following solution party
Case:
Scheme one, includes the following steps:
1) during platoon driving, when the request of vehicle in queue is left one's post, vehicle is left one's post in control request and request is left one's post
The vehicle of vehicle back reduces speed；The vehicle that the request is left one's post is not the head vehicle in queue, nor the trailer in queue；
2) the adjacent front truck and request for detecting vehicle of requesting to leave one's post are left one's post at a distance from vehicle, and the phase for vehicle of requesting to leave one's post is detected
Adjacent rear car is left one's post with request at a distance from vehicle；When the leave one's post distance of vehicle front truck adjacent thereto and adjacent rear car of request is all larger than and sets
When fixed safe distance, request vehicle of leaving one's post is allowed to leave one's post；
3) request is left one's post after vehicle leaves one's post, and is controlled the leave one's post vehicle of vehicle back of the request and is carried out platoon driving,
First queue is formed, control first queue accelerates, and the head vehicle and the request for detecting first queue are left one's post the adjacent front truck of vehicle
The distance between, when the distance be less than setting value when, control first queue and it is described request leave one's post vehicle front vehicle carry out
Platoon driving.
Scheme two during the platoon driving, further includes the steps that controlling vehicle joins the team on the basis of scheme one:
The enqueue request and trip information for obtaining queue consumers to be added, judge the trip informations of queue consumers to be added with
Whether the trip information of queue is consistent, if unanimously, detecting the vehicle for coming last vehicle and queue consumers to be added in queue
Distance, when the distance be less than set distance when, control in the vehicle synchronous queue of queue consumers to be added and come last vehicle
Driving states.
Scheme three, on the basis of scheme two, step 1) during platoon driving, request leave one's post vehicle be head vehicle when,
Controlling the subsequent vehicle of head vehicle reduces speed, when the adjacent rear car of head vehicle is greater than the safe distance at a distance from head vehicle, permits
Perhaps head vehicle is left one's post.
Scheme four further includes that the subsequent vehicle of control head vehicle carries out team after the request of head vehicle is left one's post on the basis of scheme three
The step of column traveling.
Scheme five, on the basis of scheme one, the vehicle of leaving one's post of the request in step 1) is two or more successively adjacent vehicles
?.
In order to solve the above technical problems, the present invention also proposes another vehicle platoon travel control method, including following solution
Certainly scheme:
Scheme one, includes the following steps:
(1) during platoon driving, two or more vehicle requests are left one's post in queue, and control is all to request vehicle of leaving one's post
And request leave one's post vehicle back vehicle reduce speed；Described two or more are requested the vehicle left one's post successively not adjacent, and are requested
Vehicle of leaving one's post is not a vehicle, nor trailer；
(2) the adjacent front truck and request for detecting vehicle of requesting to leave one's post are left one's post at a distance from vehicle, and the adjacent of vehicle of leaving one's post is requested
Rear car is left one's post with request at a distance from vehicle；When the leave one's post distance of vehicle front truck adjacent thereto and adjacent rear car of request is all larger than setting
Safe distance when, allow the request vehicle of leaving one's post to leave one's post；
(3) it leaves one's post after vehicle leaves one's post after all requests, controls remaining vehicle and carry out platoon driving.
Scheme two during the platoon driving, further includes the steps that controlling vehicle joins the team on the basis of scheme one:
The enqueue request and trip information for obtaining queue consumers to be added, judge the trip informations of queue consumers to be added with
Whether the trip information of queue is consistent, if unanimously, detecting the vehicle for coming last vehicle and queue consumers to be added in queue
Distance, when the distance be less than set distance when, control in the vehicle synchronous queue of queue consumers to be added and come last vehicle
Driving states.
Scheme three, on the basis of scheme one, the vehicle controlled between vehicle of requesting to leave one's post carries out platoon driving, and control
The vehicle for making the front-seat vehicle back of leaving one's post after in the queue of leaving one's post carries out platoon driving, forms more than two queues,
Each queue is successively controlled according to tandem to accelerate, is merged with the queue of front, and platoon driving is carried out.
Scheme four, on the basis of scheme one, step (1) during platoon driving, request leave one's post vehicle be head vehicle when,
Controlling the subsequent vehicle of head vehicle reduces speed, when the adjacent rear car of headstock is greater than the safe distance at a distance from head vehicle, permits
Perhaps head vehicle is left one's post.
Scheme five further includes that the subsequent vehicle of control head vehicle carries out team after the request of head vehicle is left one's post on the basis of scheme four
The step of column traveling.
In order to solve the above technical problems, the present invention also proposes a kind of vehicle platoon traveling management platform, including following solution
Scheme:
Scheme one, including platform information receiving module, match decision module, platform information sending module, wherein
Platform information receiving module is used to obtain the dequeue request for vehicle of leaving one's post；
Match decision module is used for according to the dequeue request of vehicle of leaving one's post, vehicle is left one's post in control request and request is left one's post vehicle
Subsequent vehicle reduces speed；The vehicle that the request is left one's post is not the head vehicle in queue, nor the trailer in queue；
The adjacent front truck and request for detecting vehicle of requesting to leave one's post are left one's post at a distance from vehicle, and the adjacent of vehicle of leaving one's post is requested in detection
Rear car is left one's post with request at a distance from vehicle；When the leave one's post distance of vehicle front truck adjacent thereto and adjacent rear car of request is all larger than setting
Safe distance when, allow the request vehicle of leaving one's post to leave one's post；
The request is left one's post after vehicle leaves one's post, and is controlled the leave one's post vehicle of vehicle back of the request and is carried out platoon driving, shape
At first queue, control first queue and accelerate, the head vehicle and the request for detecting first queue leave one's post vehicle adjacent front truck it
Between distance, when the distance be less than setting value when, control first queue and it is described request leave one's post vehicle front vehicle carry out team
Column traveling；
Platform information sending module is used to for the decision information of match decision module being sent to the car-mounted terminal of queue consumers.
Scheme two, on the basis of scheme one, the match decision module is also used to during platoon driving, controls vehicle
It joins the team；
The enqueue request and trip information for obtaining queue consumers to be added, judge the trip informations of queue consumers to be added with
Whether the trip information of queue is consistent, if unanimously, detecting the vehicle for coming last vehicle and queue consumers to be added in queue
Distance, when the distance be less than set distance when, control in the vehicle synchronous queue of queue consumers to be added and come last vehicle
Driving states.
Scheme three, on the basis of scheme one, during platoon driving, request leave one's post vehicle be head vehicle when, described
Being also used to control the subsequent vehicle of a vehicle with decision-making module reduces speed, when the adjacent rear car of head vehicle is greater than institute at a distance from head vehicle
When stating safe distance, head vehicle is allowed to leave one's post.
In order to solve the above technical problems, the present invention also proposes another vehicle platoon traveling management platform, including following solution
Certainly scheme:
Scheme one, including platform information receiving module, match decision module, platform information sending module, wherein
Platform information receiving module is used to obtain the dequeue request of two or more vehicles of leaving one's post, described two or more vehicles of leaving one's post
It is successively not adjacent, the vehicle left one's post is requested neither head vehicle, nor trailer；
Match decision module is used for according to the dequeue request of vehicle of leaving one's post, and controls that vehicle is left one's post in all requests and request is left one's post
The vehicle of vehicle back reduces speed；Detection request leave one's post vehicle adjacent front truck with request to leave one's post at a distance from vehicle, request from
The adjacent rear car of team's vehicle is left one's post with request at a distance from vehicle；When request leave one's post vehicle front truck adjacent thereto and adjacent rear car away from
When from the safe distance for being all larger than setting, the request vehicle of leaving one's post is allowed to leave one's post；It leaves one's post after vehicle leaves one's post after all requests, control
It makes remaining vehicle and carries out platoon driving；
Platform information sending module is used to for the decision information of match decision module being sent to the car-mounted terminal of queue consumers.
Scheme two, on the basis of scheme one, the match decision module is also used to during platoon driving, controls vehicle
It joins the team；
The enqueue request and trip information for obtaining queue consumers to be added, judge the trip informations of queue consumers to be added with
Whether the trip information of queue is consistent, if unanimously, detecting the vehicle for coming last vehicle and queue consumers to be added in queue
Distance, when the distance be less than set distance when, control in the vehicle synchronous queue of queue consumers to be added and come last vehicle
Driving states.
Scheme three, on the basis of scheme one, the match decision module is also used to: control request is left one's post between vehicle
Vehicle carries out platoon driving, and controls the vehicle progress queue row for the front-seat vehicle back of leaving one's post after in the queue of leaving one's post
It sails, forms more than two queues, each queue is successively controlled according to tandem and is accelerated, is merged with the queue of front, is carried out
Platoon driving.
The beneficial effects of the present invention are:
The present invention for certain vehicle in ride queues dequeue request, or it is successively adjacent several according to tandem
The dequeue request of vehicle, first reduces dequeue request vehicle and the behind speed of vehicle, and leaves one's post vehicle and its phase in request
When the relative distance of adjacent front truck and adjacent rear car is all larger than safe distance, the vehicle that allows to request to leave one's post is left one's post.When it is all request from
After the vehicle of team is left one's post, the remaining vehicle for reducing speed traveling of first control carries out platoon driving, forms an individual queue, then
Control the queue acceleration, with request leave one's post vehicle front traveling vehicle merges, carry out platoon driving, merge formation one team
Column.Platoon driving control method of the invention can not only realize the control of leaving one's post for travelling vehicle on the way, moreover it is possible to leave one's post in vehicle
Some vehicles afterwards carry out platoon driving immediately and accelerate, and ultimately form the queue of an entirety, realize better fuel-saving efficiency.
It has been further proposed that the control method that other vehicles are joined the team during a kind of platoon driving, joins the team according to user
Request, it is whether consistent with the trip information of queue to judge user, and then judge whether to adhere to platoon driving.When joining the team, inspection
It surveys in queue and comes last vehicle at a distance from the vehicle of queue consumers to be added, when the distance is less than set distance, control
Make the driving states that last vehicle is come in the vehicle synchronous queue of queue consumers to be added.Realize other on highway
Queue is added in vehicle according to demand, and then realizes that intelligence is formed into columns, and is conducive to being widely applied for platoon driving technology.
Further, when the vehicle that request is left one's post is head vehicle, head vehicle is not required to reduction of speed, and the vehicle that need to only control behind reduces
Speed, when reaching safe distance between head vehicle and subsequent vehicle, head vehicle can leave one's post traveling.After head vehicle is left one's post, behind
Vehicle carries out platoon driving.
Present invention is alternatively directed to two or more in ride queues, the not successively dequeue request of adjacent vehicle, when all requests
After vehicle of leaving one's post is left one's post, the vehicle controlled between vehicle of requesting to leave one's post carries out platoon driving, forms multiple queues and carries out queue rows
Sail, then according to tandem, control respective queue and accelerate, when the queue for the head vehicle and the front for accelerating queue trailer away from
When from being less than setting value, controlling two queues and merging, forming a queue, all queues are finally merged into a queue,
To improve fuel-saving efficiency and reduce windage.
Further, it if the vehicle left one's post of request is non-conterminous between any two, leaves one's post after vehicle sails out of queue in request, team
The number that small queue is formed between column merging is equal to the number for vehicle of requesting to leave one's post, before being merged into a big queue first
Guarantee certain fuel-saving efficiency, and reduces windage to a certain extent.
When the request of at least three vehicles is left one's post, the vehicle adjacent there are front and back in all vehicles for requesting to leave one's post, and phase
Neighbour's request leave one's post vehicle number be less than request leave one's post vehicle sum when, leave one's post after vehicle sails out of queue in request, control
The non-conterminous request vehicle between vehicle of leaving one's post carries out platoon driving, more than two small queues is formed, then according to queue
Tandem successively control each queue and accelerate, merges with the queue of front, ultimately forms a queue, it is maximum limit the quantity mention
Height improves fuel-saving efficiency and reduces windage.
In addition, vehicle platoon traveling management platform of the invention can be managed car-mounted terminal, car-mounted terminal is uploaded
User's dequeue request, management platform judge whether agree to leave platoon driving, if agree to need to be sent to corresponding car-mounted terminal
Command information can leave one's post after the car-mounted terminal receives command information, realize the vehicle just in platoon driving on highway
Queue is left according to their own needs, and the vehicle after leaving one's post can realize intelligent formation again, be conducive to the big of platoon driving technology
Area is promoted.
Detailed description of the invention
Fig. 1 is the management platform schematic diagram of platoon driving control device application.
Specific embodiment
A specific embodiment of the invention is further described with reference to the accompanying drawing.
Embodiment one:
The present invention carries out platoon driving, driving process in a manner of less than one set distance S1 between vehicle two-by-two
In, when the request of vehicle in queue is left one's post, the vehicle for vehicle back that vehicle is left one's post in control request and request is left one's post reduces speed；Inspection
Survey that the adjacent front truck of vehicle is left one's post in request and request is left one's post at a distance from vehicle, the adjacent rear car for vehicle of requesting to leave one's post is left one's post with request
The distance of vehicle；When the two distances are all larger than the safe distance of setting, the vehicle that allows to request to leave one's post is left one's post.Request vehicle of leaving one's post
After leaving one's post, the leave one's post vehicle of vehicle back of control request carries out platoon driving, forms first queue, control first queue adds
Speed, the head vehicle and request for detecting first queue are left one's post the distance between the adjacent front truck of vehicle, when the distance is less than setting value,
Control first queue and request leave one's post vehicle front vehicle carry out platoon driving, formed second queue.Head vehicle of the invention is
Refer to the vehicle that foremost is come in a queue, trailer, which refers in a team, comes rearmost vehicle.
For example, tetra- vehicles of B1, B2, B3, B4 carry out platoon driving according to tandem, and after wherein B2 request is left one's post, control
B2, B3 reduce speed, detect B1 and B2 between distance, the distance between B2 and B3, when detect the distance between B1 and B2, B2 and
After the distance between B3 is all larger than X meters of safe distance, B2 is allowed to leave one's post.After B2 leaves one's post, first controls B3, B4 and carries out platoon driving,
Form first queue, control first queue accelerates, detect the head vehicle B3 of first queue between B1 at a distance from, when distance is less than one
When setting value S2, control first queue and B1 carry out platoon driving, form second queue.
When head vehicle B1 request is left one's post, B2 and its rear vehicle speed are reduced, when the distance between B1 and B2 is greater than safe distance X
Meter Hou allows B1 to leave one's post.B2 is controlled as new head vehicle, and controls the driving states of the synchronous B2 of B3, the driving shape of the synchronous B3 of B4
State makes B2, B3, B4 shape third fleet, carries out platoon driving.
The present invention for certain vehicle in ride queues dequeue request, or it is successively adjacent several according to tandem
The dequeue request of vehicle, first reduces dequeue request vehicle and the behind speed of vehicle, and leaves one's post vehicle and its phase in request
When the relative distance of adjacent front truck and adjacent rear car is all larger than safe distance, the vehicle that allows to request to leave one's post is left one's post.When it is all request from
After the vehicle of team is left one's post, the remaining vehicle for reducing speed traveling of first control carries out platoon driving, forms an individual queue, then
Control the queue acceleration, with request leave one's post vehicle front traveling vehicle merges, carry out platoon driving, merge formation one team
Column.Platoon driving control method of the invention can not only realize the control of leaving one's post for travelling vehicle on the way, moreover it is possible to leave one's post in vehicle
Some vehicles afterwards carry out platoon driving immediately and accelerate, and ultimately form the queue of an entirety, realize better fuel-saving efficiency.
When the vehicle that request is left one's post is head vehicle, head vehicle is not required to reduction of speed, and the vehicle that need to only control behind reduces speed, to head Che Yuhou
When reaching safe distance between the vehicle in face, head vehicle can leave one's post traveling.After head vehicle is left one's post, vehicle behind carries out platoon driving
?.
The vehicle left one's post the present disclosure additionally applies for two or more requests according to tandem successively adjacent situation, B1,
B2, B3, B4, B5 five successive vehicles traveling, B2, B3 request to leave one's post, still according to the method in this implementation first control B2, B3,
B4, B5 reduction of speed allow to leave one's post when respectively adjacent front truck, adjacent rear car reach safe distance with it respectively by B2, B3.B2, B3 are equal
After leaving one's post, control B4, B5 first carry out platoon driving, wait accelerate and after ranging, are merged into a queue with B1.
The invention also provides a kind of vehicle platoon travel controlling systems, including processor, realize following step for executing
Rapid instruction:
1) according to the dequeue request of vehicle of leaving one's post, the vehicle for vehicle back that vehicle is left one's post in control request and request is left one's post is reduced
Speed；The vehicle that the request is left one's post is not the head vehicle in queue, nor the trailer in queue；
2) the adjacent front truck and request for detecting vehicle of requesting to leave one's post are left one's post at a distance from vehicle, and the phase for vehicle of requesting to leave one's post is detected
Adjacent rear car is left one's post with request at a distance from vehicle；When the leave one's post distance of vehicle front truck adjacent thereto and adjacent rear car of request is all larger than and sets
When fixed safe distance, request vehicle of leaving one's post is allowed to leave one's post；
3) request is left one's post after vehicle leaves one's post, and is controlled the leave one's post vehicle of vehicle back of the request and is carried out platoon driving,
First queue is formed, control first queue accelerates, and the head vehicle and the request for detecting first queue are left one's post the adjacent front truck of vehicle
The distance between, when the distance be less than setting value when, control first queue and it is described request leave one's post vehicle front vehicle carry out
Platoon driving.
Signified vehicle platoon travel controlling system, is actually based on the one of the method for the present invention process in above-described embodiment
Kind computer solution, i.e., a kind of software architecture can be applied in the vehicle of platoon driving, or each vehicle in control queue
Vehicle platoon traveling management platform in, above-mentioned apparatus be treatment progress corresponding with method flow.Due to above-mentioned side
Sufficiently clear is complete for the introduction of method, therefore is no longer described in detail.
When vehicle platoon travel controlling system is applied in vehicle, is controlled by head vehicle and realize platoon driving control.Work as head
When vehicle request is left one's post, and the subsequent vehicle reduction speed of a vehicle is controlled, when the adjacent rear car of headstock is greater than institute at a distance from head vehicle
When stating safe distance, by the control of the adjacent rear car adapter tube platoon driving of head vehicle, and a vehicle is allowed to leave one's post.
When vehicle platoon travel controlling system is applied in management platform, a kind of vehicle platoon traveling management platform such as figure
Shown in 1, including platform information receiving module, match decision module, platform information sending module, wherein match decision module is
For above-mentioned platoon driving control device, controlled for realizing platoon driving of the invention；Platform information receiving module is for obtaining
It leaves one's post the dequeue request of vehicle, and is sent to match decision module, platform information sending module is by the decision of match decision module
Information is sent to the car-mounted terminal of queue consumers.
The platoon driving left one's post the above are the vehicle request in platoon driving controls, and the queue just in platoon driving,
The case where joining the team there is also the request of other vehicles, is based on this, it is also proposed that further includes control vehicle during a kind of platoon driving
The method joined the team, includes the following steps:
The enqueue request and trip information for obtaining queue consumers to be added, judge the trip informations of queue consumers to be added with
Whether the trip information of queue is consistent, if unanimously, detecting the vehicle for coming last vehicle and queue consumers to be added in queue
Distance, when the distance be less than set distance when, control in the vehicle synchronous queue of queue consumers to be added and come last vehicle
Driving states.
This method can be realized other vehicles on highway and queue be added according to demand, and then realize that intelligence is formed into columns,
Be conducive to being widely applied for platoon driving technology.
Embodiment two:
When requesting the vehicle left one's post to be two or more, request the vehicle left one's post successively not adjacent, and request had left one's post vehicle both
When not being a vehicle, being also not trailer, using following methods control vehicle platoon traveling:
Control that vehicle is left one's post in all requests and the leave one's post vehicle of vehicle back of request reduces speed, detection request is left one's post vehicle
Adjacent front truck and request leave one's post at a distance from vehicle, request leave one's post vehicle adjacent rear car at a distance from vehicle of requesting to leave one's post；When
When the two distances are all larger than the safe distance of setting, the vehicle that allows to request to leave one's post is left one's post.It leaves one's post to all request vehicles of leaving one's post
Afterwards, it controls remaining vehicle and carries out platoon driving.
Specifically, control request is left one's post, the vehicle between vehicle carries out queue row for the control of remaining vehicle platoon driving again
Sail, and the leave one's post vehicle of the front-seat vehicle back of leaving one's post after in the queue of control carries out platoon driving, formed two with
On queue, each queue is successively controlled according to tandem and is accelerated, is merged with the queue of front, progress platoon driving, finally
A queue is formed, to improve fuel-saving efficiency and reduce windage.
Why before being merged into a big queue, several small queues are initially formed, are to protect to greatest extent
Fuel-saving efficiency is demonstrate,proved, and reduces windage to a certain extent.For example, nine successive vehicles rows of B0, B1, B2, B3, B4, B5, B6, B7, B8
Sail, wherein B2, B3, B6 request to leave one's post, after B2, B3, B6 leave one's post, formed three small queues, first squad be classified as B0,
B1, second squad are classified as B4, B5, and third squad is classified as B7, B8.Wherein, second squad be ask leave one's post vehicle B3, B6 it
Between vehicle, third squad is that B2, B3, B6 leave one's post the front-seat subsequent vehicle of vehicle B6 of leaving one's post after in the queue.Queue
When merging control, second small queue of control first accelerates, when the distance between B1 and B4 are less than setting value S2, first squad
Column are merged into row platoon driving with second small queue, then control the small queue of third and accelerate, as the distance between B5 and B7
When less than setting value S2, the small queue of third merges with first, second small queue, ultimately forms a queue, carries out queue
Traveling, maximumlly to improve fuel-saving efficiency and reduce windage.
When request leave one's post the sum of vehicle be at least three when, leave one's post vehicle there are adjacent request, and neighbor request from
The number of team's vehicle is less than request and leaves one's post the sum of vehicle, leaves one's post after vehicle leaves one's post after all requests, controls non-conterminous request
The vehicle left one's post between vehicle carries out platoon driving, forms more than two queues, each team is successively controlled according to tandem
Column accelerate, and merge with the queue of front, carry out platoon driving, ultimately form a queue.For example, B0, B1, B2, B3, B4, B5,
B6, B7, B8, B9, B10 have ten vehicles altogether and carry out platoon driving, are B2, B3, B7, neighbor request vehicle if there is three requests to leave one's post
Number be two, form three small queues, respectively B0, B1 and B4, B5, B6 and B8, B9, B10；If there is four to ask
It asks and leaves one's post, be B2, B3, B7, B8, the number of neighbor request vehicle is four, three small queues, respectively B0, B1 are formed, and
B4, B5, B6 and B9, B10.
As other embodiments, during platoon driving, when the head vehicle request in queue is left one's post, control behind head vehicle
Vehicle reduce speed, when the adjacent rear car of headstock with head vehicle at a distance from be greater than safe distance when, permission head vehicle leave one's post.Head vehicle is asked
It asks after leaving one's post, the subsequent vehicle of control head vehicle carries out platoon driving.
The present invention also proposes a kind of vehicle platoon travel controlling system, including processor, realizes following steps for executing
Instruction:
According to the dequeue request for vehicle of leaving one's post, control that vehicle is left one's post in all requests and request is left one's post the vehicle drop of vehicle back
Low speed；Wherein, two or more vehicles of leaving one's post are not successively adjacent, request the vehicle left one's post neither head vehicle, nor trailer；
The adjacent front truck of vehicle is left one's post in detection request and request is left one's post at a distance from vehicle, the adjacent rear car for vehicle of requesting to leave one's post
It leaves one's post at a distance from vehicle with request；When the leave one's post distance of vehicle front truck adjacent thereto and adjacent rear car of request is all larger than the peace of setting
When full distance, the request vehicle of leaving one's post is allowed to leave one's post；It leaves one's post after vehicle leaves one's post after all requests, controls remaining vehicle and carry out
Platoon driving.
Signified vehicle platoon travel controlling system, is actually based on the one of the method for the present invention process in above-described embodiment
Kind computer solution, i.e., a kind of software architecture can be applied in the vehicle of platoon driving, or each vehicle in control queue
Management platform in, above-mentioned apparatus be treatment progress corresponding with method flow.Due to the introduction to the above method
Sufficiently clear is complete, therefore is no longer described in detail.
When vehicle platoon travel controlling system is applied in vehicle, is controlled by head vehicle and realize platoon driving control.Work as head
When vehicle request is left one's post, and the subsequent vehicle reduction speed of a vehicle is controlled, when the adjacent rear car of headstock is greater than institute at a distance from head vehicle
When stating safe distance, by the control of the adjacent rear car adapter tube platoon driving of head vehicle, and a vehicle is allowed to leave one's post.
When vehicle platoon travel controlling system is applied in management platform, including platform information receiving module, matching are determined
Plan module, platform information sending module, wherein match decision module is above-mentioned vehicle platoon travel controlling system, for real
Existing platoon driving control of the invention；Platform information receiving module is used to obtain the dequeue request of vehicle of leaving one's post, and is sent to
With decision-making module, the decision information of match decision module is sent to the car-mounted terminal of queue consumers by platform information sending module.
Optimize this example in addition, also can be used and control the method that vehicle is joined the team in embodiment one, that is, further includes platoon driving
In the process, the enqueue request and trip information for obtaining queue consumers to be added, judge the trip informations of queue consumers to be added with
Whether the trip information of queue is consistent, if unanimously, detecting the vehicle for coming last vehicle and queue consumers to be added in queue
Distance, when the distance be less than set distance when, control in the vehicle synchronous queue of queue consumers to be added and come last vehicle
Driving states.
The above description is only a preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should be included within scope of the presently claimed invention.
Claims (10)
1. a kind of vehicle platoon travel control method, which comprises the following steps:
1) during platoon driving, when the request of vehicle in queue is left one's post, vehicle is left one's post in control request and request is left one's post vehicle
Subsequent vehicle reduces speed；The vehicle that the request is left one's post is not the head vehicle in queue, nor the trailer in queue；
2) the adjacent front truck of vehicle is left one's post in detection request and request is left one's post at a distance from vehicle, detection request to leave one's post vehicle it is adjacent after
Vehicle is left one's post with request at a distance from vehicle；When the leave one's post distance of vehicle front truck adjacent thereto and adjacent rear car of request is all larger than setting
When safe distance, the request vehicle of leaving one's post is allowed to leave one's post；
3) request is left one's post after vehicle leaves one's post, and is controlled the leave one's post vehicle of vehicle back of the request and is carried out platoon driving, is formed
First queue, control first queue accelerate, detect first queue head vehicle and it is described request leave one's post vehicle adjacent front truck between
Distance, when the distance be less than setting value when, control first queue and it is described request leave one's post vehicle front vehicle carry out queue
Traveling.
2. vehicle platoon travel control method according to claim 1, which is characterized in that during the platoon driving,
Further include the steps that controlling vehicle joins the team:
The enqueue request and trip information for obtaining queue consumers to be added judge trip information and the queue of queue consumers to be added
Trip information it is whether consistent, if unanimously, detect the vehicle that last vehicle and queue consumers to be added are come in queue away from
From, when the distance be less than set distance when, control in the vehicle synchronous queue of queue consumers to be added and come last vehicle
Driving states.
3. vehicle platoon travel control method according to claim 1, which is characterized in that step 1) is when platoon driving process
In, request leaves one's post vehicle when being head vehicle, and the subsequent vehicle of control head vehicle reduces speed, when head vehicle adjacent rear car and head vehicle away from
When from being greater than the safe distance, head vehicle is allowed to leave one's post.
4. vehicle platoon travel control method according to claim 3, which is characterized in that after the request of head vehicle is left one's post, also wrap
Include the step of subsequent vehicle of control head vehicle carries out platoon driving.
5. vehicle platoon travel control method according to claim 1, which is characterized in that the request in step 1) is left one's post vehicle
For two or more successively adjacent vehicles.
6. a kind of vehicle platoon travel control method, which comprises the following steps:
(1) during platoon driving, two or more vehicle requests are left one's post in queue, are controlled all requests and are left one's post and vehicle and ask
Seeking the vehicle for vehicle back of leaving one's post reduces speed；Described two or more are requested the vehicle left one's post successively not adjacent, and request is left one's post
Vehicle is not a vehicle, nor trailer；
(2) the adjacent front truck of vehicle is left one's post in detection request and request is left one's post at a distance from vehicle, the adjacent rear car for vehicle of requesting to leave one's post
It leaves one's post at a distance from vehicle with request；When the leave one's post distance of vehicle front truck adjacent thereto and adjacent rear car of request is all larger than the peace of setting
When full distance, the request vehicle of leaving one's post is allowed to leave one's post；
(3) it leaves one's post after vehicle leaves one's post after all requests, controls remaining vehicle and carry out platoon driving.
7. vehicle platoon travel control method according to claim 6, which is characterized in that during the platoon driving,
Further include the steps that controlling vehicle joins the team:
The enqueue request and trip information for obtaining queue consumers to be added judge trip information and the queue of queue consumers to be added
Trip information it is whether consistent, if unanimously, detect the vehicle that last vehicle and queue consumers to be added are come in queue away from
From, when the distance be less than set distance when, control in the vehicle synchronous queue of queue consumers to be added and come last vehicle
Driving states.
8. vehicle platoon travel control method according to claim 6, which is characterized in that control request is left one's post between vehicle
Vehicle carry out platoon driving, and the leave one's post vehicle of the front-seat vehicle back of leaving one's post after in the queue of control carries out queue
Traveling, forms more than two queues, and each queue is successively controlled according to tandem and is accelerated, is merged with the queue of front, into
Row platoon driving.
9. a kind of vehicle platoon traveling management platform, which is characterized in that including platform information receiving module, match decision module,
Platform information sending module, wherein
Platform information receiving module is used to obtain the dequeue request for vehicle of leaving one's post；
Match decision module is used for according to the dequeue request of vehicle of leaving one's post, vehicle back that vehicle is left one's post in control request and request is left one's post
Vehicle reduce speed；The vehicle that the request is left one's post is not the head vehicle in queue, nor the trailer in queue；
The adjacent front truck and request for detecting vehicle of requesting to leave one's post are left one's post at a distance from vehicle, and the adjacent rear car for vehicle of requesting to leave one's post is detected
It leaves one's post at a distance from vehicle with request；When the leave one's post distance of vehicle front truck adjacent thereto and adjacent rear car of request is all larger than the peace of setting
When full distance, the request vehicle of leaving one's post is allowed to leave one's post；
The request is left one's post after vehicle leaves one's post, and is controlled the leave one's post vehicle of vehicle back of the request and is carried out platoon driving, forms the
One queue, control first queue accelerate, detect first queue head vehicle and it is described request leave one's post vehicle adjacent front truck between
Distance, when the distance be less than setting value when, control first queue and it is described request leave one's post vehicle front vehicle carry out queue row
It sails；
Platform information sending module is used to for the decision information of match decision module being sent to the car-mounted terminal of queue consumers.
10. a kind of vehicle platoon traveling management platform, which is characterized in that including platform information receiving module, match decision module,
Platform information sending module, wherein
Platform information receiving module is used to obtain the dequeue request of two or more vehicles of leaving one's post, and described two or more are left one's post vehicle not
It is successively adjacent, the vehicle left one's post is requested neither head vehicle, nor trailer；
Match decision module is used for according to the dequeue request of vehicle of leaving one's post, and controls that vehicle is left one's post in all requests and request is left one's post vehicle
Subsequent vehicle reduces speed；The adjacent front truck and request for detecting vehicle of requesting to leave one's post are left one's post at a distance from vehicle, and vehicle of leaving one's post is requested
Adjacent rear car and request leave one's post at a distance from vehicle；When request leave one's post vehicle front truck adjacent thereto and adjacent rear car distance it is equal
Greater than setting safe distance when, allow the request vehicle of leaving one's post to leave one's post；It leaves one's post after vehicle leaves one's post after all requests, control is surplus
Remaining vehicle carries out platoon driving；
Platform information sending module is used to for the decision information of match decision module being sent to the car-mounted terminal of queue consumers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710885105.3A CN109559000A (en) | 2017-09-26 | 2017-09-26 | A kind of vehicle platoon travel control method and management platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710885105.3A CN109559000A (en) | 2017-09-26 | 2017-09-26 | A kind of vehicle platoon travel control method and management platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109559000A true CN109559000A (en) | 2019-04-02 |
Family
ID=65863299
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710885105.3A Pending CN109559000A (en) | 2017-09-26 | 2017-09-26 | A kind of vehicle platoon travel control method and management platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109559000A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111210614A (en) * | 2020-01-16 | 2020-05-29 | 北京汽车集团有限公司 | Method and device for controlling motorcade running |
| CN112277942A (en) * | 2019-07-12 | 2021-01-29 | 北京图森智途科技有限公司 | Queue control method for automatically driving vehicle, vehicle-mounted device and system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105160865A (en) * | 2015-08-05 | 2015-12-16 | 深圳市航盛电子股份有限公司 | Vehicle formation driving control system and method |
| CN105702018A (en) * | 2016-03-14 | 2016-06-22 | 重庆云途交通科技有限公司 | Vehicle team driving management method based on cooperative vehicle infrastructure technology |
| CN105809950A (en) * | 2016-03-28 | 2016-07-27 | 重庆邮电大学 | Vehicle fleet forming method and system based on vehicle road collaboration technology |
-
2017
- 2017-09-26 CN CN201710885105.3A patent/CN109559000A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105160865A (en) * | 2015-08-05 | 2015-12-16 | 深圳市航盛电子股份有限公司 | Vehicle formation driving control system and method |
| CN105702018A (en) * | 2016-03-14 | 2016-06-22 | 重庆云途交通科技有限公司 | Vehicle team driving management method based on cooperative vehicle infrastructure technology |
| CN105809950A (en) * | 2016-03-28 | 2016-07-27 | 重庆邮电大学 | Vehicle fleet forming method and system based on vehicle road collaboration technology |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112277942A (en) * | 2019-07-12 | 2021-01-29 | 北京图森智途科技有限公司 | Queue control method for automatically driving vehicle, vehicle-mounted device and system |
| CN111210614A (en) * | 2020-01-16 | 2020-05-29 | 北京汽车集团有限公司 | Method and device for controlling motorcade running |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109035862B (en) | Multi-vehicle cooperative lane change control method based on vehicle-to-vehicle communication | |
| CN108986488B (en) | Method and equipment for determining ramp merging cooperative track in vehicle-vehicle communication environment | |
| CN109272748B (en) | Ramp cooperative merging method and system under vehicle-vehicle communication combined auxiliary driving environment | |
| Luo et al. | Green light optimal speed advisory for hybrid electric vehicles | |
| CN103208191B (en) | The optimization method of signal coordinated control under a kind of urban road intersection supersaturated condition | |
| CN110070707A (en) | A method of realizing that cooperating type adaptive learning algorithms fleet forms a team and separates | |
| CN111746539A (en) | Intelligent network-connected automobile strict and safe lane-changing enqueueing control method | |
| CN106781435A (en) | A kind of Fei Xinkong intersections platooning passing method based on radio communication | |
| CN105551282A (en) | Overtaking prompting method and apparatus | |
| Hu et al. | Cut through traffic to catch green light: Eco approach with overtaking capability | |
| CN109559499B (en) | Vehicle queue running management platform, control method and vehicle-mounted terminal | |
| Huang et al. | Cooperative adaptive cruise control and exhaust emission evaluation under heterogeneous connected vehicle network environment in urban city | |
| CN112233413A (en) | Multilane space-time trajectory optimization method for intelligent networked vehicle | |
| Kim et al. | A modeling framework for connectivity and automation co-simulation | |
| CN112820126B (en) | Road right priority operation control and simulation method for non-invasive guided transport vehicle | |
| CN104412309A (en) | Recommended-drive-pattern generation device | |
| CN106338998A (en) | Method to control automobile to drive in cluster type formation | |
| CN114299755B (en) | Intelligent network connection queue channel switching method | |
| CN111899509B (en) | Intelligent networking automobile state vector calculation method based on vehicle-road information coupling | |
| CN109559000A (en) | A kind of vehicle platoon travel control method and management platform | |
| Shan et al. | Connected eco‐driving for electric buses along signalized arterials with bus stops | |
| CN110217274A (en) | A kind of determination method and device in vehicle coasting section | |
| Chen et al. | Hierarchical eco‐driving control strategy for hybrid electric vehicle platoon at signalized intersections under partially connected and automated vehicle environment | |
| CN103529703B (en) | Method for the Speed limit curve of train automatic controlling system | |
| Shan et al. | Developing A Novel Dynamic Bus Lane Control Strategy With Eco-Driving Under Partially Connected Vehicle Environment |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190402 |