CN109597414A - The control loop and its method of self driving fleet average energy consumption - Google Patents
The control loop and its method of self driving fleet average energy consumption Download PDFInfo
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- CN109597414A CN109597414A CN201811487144.9A CN201811487144A CN109597414A CN 109597414 A CN109597414 A CN 109597414A CN 201811487144 A CN201811487144 A CN 201811487144A CN 109597414 A CN109597414 A CN 109597414A
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- 238000005265 energy consumption Methods 0.000 title claims abstract description 48
- 238000000034 method Methods 0.000 title abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 230000007613 environmental effect Effects 0.000 claims description 20
- 238000009940 knitting Methods 0.000 claims 2
- 238000004904 shortening Methods 0.000 abstract 1
- 238000004891 communication Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 6
- 230000021715 photosynthesis, light harvesting Effects 0.000 description 6
- 230000006855 networking Effects 0.000 description 4
- 230000003416 augmentation Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 102100034112 Alkyldihydroxyacetonephosphate synthase, peroxisomal Human genes 0.000 description 1
- 238000012935 Averaging Methods 0.000 description 1
- 101000799143 Homo sapiens Alkyldihydroxyacetonephosphate synthase, peroxisomal Proteins 0.000 description 1
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- 230000008520 organization Effects 0.000 description 1
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- 230000035484 reaction time Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0295—Fleet control by at least one leading vehicle of the fleet
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Abstract
The present invention relates to the control loop and its method of a kind of self driving fleet average energy consumption, which includes that vehicle condition detection unit, control unit and principal and subordinate take turns tune unit.Present position, the current vehicle condition of Zhong Ge fleet, fleet vehicle and the individual destinations of vehicle condition detection unit detection fleet simultaneously generate situation of remote.Control unit adjusts planning information to receive situation of remote, to generate to take turns.Principal and subordinate, which takes turns, to be adjusted unit to adjust the principal and subordinate of planning information to distribute signal more fleet's vehicles are carried out principals and subordinates according to wheel to be distributed into main body's vehicle and at least one from fleet's vehicle.Principal and subordinate take turns adjust unit according to wheel adjust planning information in have wheel timing between and wheel tune sequence wheel tune TIME HISTORY SIGNAL, allow each fleet's vehicle according to corresponding wheel timing journey put in order on wheel tune.The present invention is able to optimize the spacing for shortening fleet workshop using path area to reduce energy loss caused by windage.
Description
Technical field
The present invention relates to a kind of control loop of car networking and its method, each vehicle is average in espespecially a kind of self driving fleet
The control loop and its method of energy consumption.
Background technique
It may be road open first in the relatively simple highway of road environment with the development of automatic Pilot vehicle
Section.However, windage is on one of an important factor for oil consumption influence when vehicle is when running at high speed.Therefore, how garage is reduced
The windage encountered in sailing, and then reducing energy dissipation is an important subject under discussion.
There is a kind of vehicle travel support device on the market, it includes: air drag distribution acquisition unit, target travel position are determined
Determine portion, traveling assisted parts.The left and right directions and the air on front-rear direction that air drag distribution acquisition unit obtains vehicle
Resistance distribution.Target travel position determination section is distributed to determine the vehicle relative to traveling ahead vehicle using air drag
Target travel position.The target travel position that traveling assisted parts guidance vehicle is determined towards target travel position determination section
Set movement.This vehicle travel support device system caused by when the detected vehicle driving because of traveling ahead to itself vehicle
Behind the position with higher air power effect around, vehicle is guided to corresponding position, is improved whereby certainly
The energy dissipation of body vehicle.However, only individually carrying out with single car after all, therefore improve the limitation of energy dissipation.
Separately have a kind of vehicle dispatch system on the market, by car networking, automatic Pilot vehicle it is vehicle-to-vehicle between communication
Technical organization fleet is to allow fleet to be arranged according to vehicle size.Front is come through cart, trolley comes the arrangement side at rear
Formula allows front vehicle because air drag reduces and then reduces energy consumption.However, such vehicle dispatch system can only allow rear
The energy dissipation of vehicle improves, and the energy dissipation of the big trolley in front is not improved.After being arranged in cart with trolley
The arrangement mode of side can allow the front driving sight of rear trolley to be covered completely by cart, along with fleet's running gear is to reduce
Spacing between vehicle reduces the consume of energy to reach, if accident occurs suddenly for cart or its front, can allow the trolley at rear
There can not be the enough reaction time to carry out dangerous exclusion.
Summary of the invention
In view of this, the present invention discloses the control loop and its method of a kind of self driving fleet average energy consumption, to
The energy consumption of average fleet Zhong Ge fleet vehicle.The control loop system of self driving average energy consumption of the present invention is applied to have more
The fleet of a fleet's vehicle.Control loop includes that vehicle condition detection unit, control unit and principal and subordinate take turns tune unit.The detection of this vehicle condition is single
Member system is set at least fleet's vehicle, to detect present position, Current vehicle conditions and the destination of fleet simultaneously
Generate situation of remote.Control unit is connect with vehicle condition detection unit, adjusts planning information to receive situation of remote to generate wheel.
It includes that wheel timing journey and principal and subordinate distribute signal that wheel, which adjusts planning information,.Principal and subordinate, which takes turns, adjusts unit to connect with control unit.Principal and subordinate, which takes turns, adjusts list
Member distributes signal according to principal and subordinate and more fleet's vehicles is carried out principal and subordinate's distribution, and then more fleet's vehicles are distributed into main body's vehicle
And at least one from fleet's vehicle.Principal and subordinate take turns adjust unit according to have wheel timing between and wheel tune sequence wheel tune TIME HISTORY SIGNAL, allow respectively
Fleet's vehicle according to corresponding wheel timing journey put in order on wheel tune.
Further, the drive manner of self driving average energy consumption of the present invention, applied to the vehicle with more fleet's vehicles
Team.This drive manner comprises the steps of: that receive more fleet's vehicles has present position, Current vehicle conditions and purpose
The situation of remote on ground；Wheel, which is generated, according to this situation of remote adjusts planning information；Planning information is adjusted to carry out more fleet's vehicles according to wheel
Principal and subordinate's distribution, and allow each fleet's vehicle according to wheel adjust wheel timing journey corresponding in planning information put in order on wheel
It adjusts.
Compared to the prior art, the control loop of self driving average energy consumption of the invention and its method have following excellent
Point: 1. form fleet with car networking.System, fleet is travelled in a manner of contacting, and is able to optimized using path area, in turn
The spacing in fleet workshop can be shortened to reduce energy loss caused by windage；2. allowing each fleet's vehicle by the mechanism that wheel is adjusted
Wheel in due course and appropriate is transferred to First, and then the energy consumption of average each fleet's vehicle；3. the energy of Zhong Ge fleet, fleet vehicle
Amount consumption can voluntarily carry out energy saving than vehicle out of the ordinary has more effectively saving；4. avoiding only by oversize vehicle in front
The unevenness of energy consumption brought by running method and the facts of driving environment danger；5. if having oil mass or energy relatively low in fleet
Fleet's vehicle, the mechanism that can also adjust by wheel, assists this vehicle to extend its mileage travelled smoothly to arrive at the destination.
Detailed description of the invention
Fig. 1 is the block diagram of a specific embodiment of the control loop of self driving average energy consumption of the present invention.
Fig. 2 is the wheel tune schematic diagram of a specific embodiment of the control loop of self driving average energy consumption of the present invention.
Fig. 3 is the schematic diagram of a specific embodiment of the control loop of self driving average energy consumption of the present invention.
Fig. 4 is the flow chart of a specific embodiment of the drive manner of self driving average energy consumption of the present invention.
Fig. 5 is the flow chart of a specific embodiment of the drive manner of self driving average energy consumption of the present invention.
Fig. 6 is the flow chart of a specific embodiment of the drive manner of self driving average energy consumption of the present invention.
Fig. 7 is the flow chart of a specific embodiment of the drive manner of self driving average energy consumption of the present invention.
Fig. 8 is the flow chart of a specific embodiment of the drive manner of self driving average energy consumption of the present invention.
Fig. 9 is the flow chart of a specific embodiment of the drive manner of self driving average energy consumption of the present invention.
Symbol description
11: fleet 12: fleet's vehicle
13: main body's vehicle 14: from fleet's vehicle
15: vehicle 2 to be added: control loop
21: vehicle condition detection unit 22: control unit
23: communication unit 24: principal and subordinate, which takes turns, adjusts unit
25: tissue fleet's unit 26: environmental detection unit
S111-S233: step
Specific embodiment
In order to allow advantages of the present invention, spirit and feature can more easily and be expressly understood that, it is subsequent will be with embodiment simultaneously
It is described in detail and discusses referring to attached drawing.It is worth noting that, these embodiments are only the representative embodiment of the present invention, wherein institute
Ad hoc approach, device, condition of citing etc. are not intended to limit the invention or corresponding embodiment.
It please refers to Fig.1 to Fig.3.Fig. 1 is a specific embodiment of the control loop 2 of self driving average energy consumption of the present invention
Block diagram, Fig. 2 be self driving average energy consumption of the present invention control loop 2 a specific embodiment wheel tune schematic diagram, Fig. 3
For the schematic diagram of a specific embodiment of the control loop 2 of self driving average energy consumption of the present invention.In a specific embodiment,
Control loop 2 of the invention is applied to the fleet 11 with multiple fleet's vehicles 12.Control loop 2 include vehicle condition detection unit 21,
Control unit 22, communication unit 23 and principal and subordinate, which take turns, adjusts unit 24.This vehicle condition detection unit 21 is set at least fleet's vehicle 12
In, to detect present position, the current vehicle condition of each fleet's vehicle 12 and the purpose of multiple fleet's vehicles 12 of fleet 11
Ground is to generate situation of remote.Control unit 22 is connect with vehicle condition detection unit 21, adjusts rule to receive situation of remote to generate wheel
Draw information.It includes that wheel timing journey and principal and subordinate distribute signal that wheel, which adjusts planning information,.Communication unit 23 is connect with control unit 22, to
Receiving and sending wheel caused by control unit 22 adjusts planning information to each fleet's vehicle 12.Principal and subordinate, which takes turns, adjusts unit 24 and control unit
22 connections.Principal and subordinate take turns adjust unit 24 according to principal and subordinate distribute signal will the progress principal and subordinate's distribution of more fleet's vehicles 12, and then by more vehicles
Team's vehicle 12 is distributed into main body's vehicle 13 and at least one from fleet's vehicle 14.Principal and subordinate, which takes turns, adjusts unit 24 according to between wheel timing
And wheel tune sequence wheel tune TIME HISTORY SIGNAL, allow each fleet's vehicle 12 according to corresponding wheel timing journey put in order on wheel
It adjusts.In another embodiment, communication unit 23 can take turns with principal and subordinate adjusts unit 24 to connect, and principal and subordinate, which takes turns, adjusts unit 24 according to communication unit
Wheel tune planning information received by 23 executes principal and subordinate's distribution and wheel is adjusted.
Wherein, the wheel of the control loop 2 of above-mentioned self driving average energy consumption adjusts planning information by main body's vehicle 13
Produced by control unit 22, is received via the communication unit 23 of main body's vehicle 13 and be sent to the communication unit of each fleet's vehicle 12
23, to notify the control unit 22 of each fleet's vehicle 12 to start to carry out wheel tune.
Referring to Fig. 2, in a specific embodiment, at the beginning fleet 11 with main body's vehicle 13 preceding, and extremely
Few one is arranged from the posterior sequence of fleet's vehicle 14.When vehicle starts to carry out wheel timing, positioned at first main body's vehicle
13 changing Lanes are to next door lane.Tissue fleet's unit 25 allows main body's vehicle 13 to become from fleet's vehicle 14, and by current in lane
First car team vehicle 12 becomes new main body's vehicle 13.Then, each of rear is waited to pass through from fleet's vehicle 14.When rear last
When proceeding to more than next door lane from fleet's vehicle 14 from the position of fleet's vehicle 14, from 14 changing Lane of fleet's vehicle to fleet
Last simultaneously is followed from fleet's vehicle 14 in 11 lanes being currently located at.
Referring back to Fig. 1 to Fig. 3, in a specific embodiment, control loop 2 of the invention is also single comprising organized fleet
Member 25 and environmental detection unit 26.Tissue fleet's unit 25 is connect with control unit 22, to generate application organizational information or take off
From organizational information.And environmental detection unit 26 is also connect with control unit, to detect the driving conditions of current surrounding, and is generated
Environmental information.Other than the fleet 11 composed by fleet's vehicle 12, for being intended to that the vehicle to be added 15 of this fleet 11 is added or being intended to be detached from
Fleet's vehicle 12 of this fleet 11 can also be operated by this control loop 2.Wherein vehicle 15 to be added has tissue fleet unit
25, vehicle condition detection unit 21 and environmental detection unit 26.When the control unit 22 of fleet 11 receives produced by vehicle 15 to be added
Application organizational unit after, control unit 22 in fleet 11 is according to the situation of remote and ring of the current vehicle of vehicle 15 to be added
Border information, which generates, agrees to organizational information or refusal organizational information.Vehicle 15 to be added can agree to that based on the received organizational information adds
Enter in the fleet 11.And vehicle 15 to be added receives and agrees to organizational information and fleet 11 is added and then becomes wherein the one of fleet 11
After fleet's vehicle 12, control loop 2 produces new wheel tune planning information according to the current situation of remote of fleet 11.
Wherein, agree to organizational information or refusal organizational information according to following element caused by the control unit 22 of fleet 11
One of or wantonly two or more combination judged: whether the current vehicle condition of 1. vehicles 15 to be added allows the energy consumption of current fleet 11
Increase；2. whether the current environment of vehicle 15 to be added is not easy that fleet 11 is added, such as: the current surrounding of vehicle 15 to be added has other vehicles
, it causes to be not easily accessible fleet 11；3. whether vehicle 15 to be added can be such that the speed of fleet 11 declines after being added；4. fleet 11 is final
Destination whether arrive at fastly；5. whether the destination of vehicle 15 to be added is arrived at fastly；6. whether the vehicle of vehicle 15 to be added meets
The demand of current fleet 11.
Brought forward, after having fleet's vehicle 12 to generate disengaging organizational information, the control unit 22 of this fleet's vehicle 12 is according to vehicle
The current environmental information of team 11 provides disengaging opportunity appropriate, and then the fleet 11 where allowing this fleet's vehicle 12 to be detached from.And work as
After the control unit 22 of fleet 11 receives disengaging organizational information, the control unit 22 of fleet 11 is detached from fleet in this fleet's vehicle 12
New wheel tune planning information is generated according to the current situation of remote of the fleet 11 for excluding fleet's vehicle 12 that this is detached from after 11.
Wheel tune planning information above-mentioned is between carrying out planning wheel timing in one of following or wantonly two or more methods and wheel is adjusted
Sequentially: 1. range averaging by current position into fleet 11 between farthest destination possessed by fleet's vehicle 12 distributes to each fleet
Vehicle 12.In an embodiment, wheel tune at the beginning and put in order with destination by closely to remote sequence, distance is nearest to be ranked first
, and apart from farthest row last；2. being allocated according to the vehicle condition of current 11 Zhong Ge fleet vehicle 12 of fleet.Vehicle shape
The poor arrangement of condition to finally, and wheel tune sequence also for last or be even not required to be added wheel adjust, it is flat by other fleet's vehicles 12
Share the mileage for serving as main body's vehicle 13.3. according to the difference of destination, in addition to the distance according to destination carries out wheel tune and arrangement
Sequentially outside, in and being taken on mainly under conditions of the energy consumption being greater than before fleet 11 is not added by fleet's vehicle 12 of minimum distance
Main body's vehicle 13 of journey.
In a specific embodiment, the tissue fleet unit 25 of fleet 11 is also to generate invitation organizational information.Work as fleet
After 11 control loop 2 issues invitation organizational information, vehicle 15 to be added invitation organizational information ready to receive, and generate above-mentioned Shen
It please organizational information.In this way, can be by 11 active augmentation of fleet, efficiently to reduce the consumption of energy.
In a specific embodiment, the vehicle condition detection unit of the control loop of self driving average energy consumption of the present invention includes
To monitor travel condition of vehicle and the abnormal on-board diagnostic system (On-Board Diagnostics, OBD) of return, into
The global positioning system (Global Positioning System, GPS) of row vehicle location and with destination carry out path planning
Navigation system at least one.Control unit, principal and subordinate take turns adjust unit and tissue fleet's unit individually or collectively include to
Carry out information reception and the computer processor of operation, the dedicated short-range communication to carry out the communication between vehicle and vehicle
(Dedicated Short-Range Communications, DSRC), to analyze use travel permit part Vehicular communication system with
Embedded system drives at least one in system to carry out the behaviour of automatic Pilot.EMS includes to detect vehicle
The advanced driving assistance system (Advanced DriverAssistance System, ADAS) of internal and external environment.Advanced driving is auxiliary
Auxiliary system contains different types of automobile-used sensor, such as: millimetre-wave radar, ultrasonic radar, infrared radar, laser thunder
Reach, CCD CMOS Image Sensor and wheel speed sensor and electronic control unit and actuator.
Referring to Fig. 4, Fig. 4 is the process of a specific embodiment of the drive manner of self driving average energy consumption of the present invention
Figure.In a specific embodiment, the drive manner of self driving average energy consumption of the present invention is applied to have multiple fleet's vehicles 12
Fleet 11, it includes following steps:
S21: receive more fleet's vehicles 12 has present position, Current vehicle conditions and the vehicle condition of destination letter
Breath；
S22: wheel is generated according to situation of remote and adjusts planning information；And
S23: it adjusts planning information that more fleet's vehicles 12 are carried out principal and subordinate's distribution according to wheel, and allows each fleet's vehicle 12 according to wheel
Adjust wheel timing journey corresponding in planning information put in order on wheel tune；
Fleet 11 is sustainable to repeat above step or when fleet 11 is added in vehicle 15 to be added or has the fleet to be detached from
Vehicle 12 re-executes above step when leaving fleet 11 again.
Referring back to Fig. 5 and Fig. 6, Fig. 5 is a specific implementation of the drive manner of self driving average energy consumption of the present invention
The flow chart of example, Fig. 6 are the flow chart of a specific embodiment of the drive manner of self driving average energy consumption of the present invention.When having
When vehicle 15 to be added is intended to that this fleet 11 is added, before step S21, also comprise the steps of:
S121: the application organizational information of the vehicle to be added 15 of external fleet 11 to be added is received；
S122: fleet 11 and the current situation of remote and environmental information of vehicle to be added 15 are received；And
S123: according at least one in situation of remote and environmental information to generate agreement organizational information or refusal tissue letter
Breath；
And step performed when 15 fleet 11 to be added of vehicle to be added:
S124: application organizational information, situation of remote and environmental information are generated；
S125: judge whether to receive and agree to organizational information caused by fleet 11；
When vehicle 15 to be added does not receive agreement organizational information, and receives refusal organizational information, step S124 is returned to
Again other fleets 11 are found；
When vehicle 15 to be added, which receives, agrees to organizational information, S126 is thened follow the steps；
S126: fleet 11 is added, becomes wherein fleet's vehicle 12 of this fleet 11；
Fleet 11 is added by above-mentioned steps for vehicle 15 to be added, and then utilizes control loop 2 and its method of the invention
Reach the consumption of average energy.
Referring to Fig. 5 and Fig. 7, Fig. 7 is a specific reality of the drive manner of self driving average energy consumption of the present invention
Apply the flow chart of example.In a specific embodiment, drive manner of the invention also comprises the steps of: before step S121
S111: fleet 11, which generates, invites organizational information；
And vehicle 15 to be added also also comprises the steps of:
S112: it receives and invites organizational information；
When vehicle 15 to be added does not receive agreement organizational information, and receives refusal organizational information, step S112 is returned to
Again the invitation organizational information of other fleets 11 is received；
When vehicle 15 to be added, which receives, agrees to organizational information, S126 is thened follow the steps.The augmentation of fleet 11 not only can be with
By being actively added for vehicle 15 to be added, also fleet's vehicle that above-mentioned steps reach active augmentation fleet 11 can be executed by fleet 11
12.When 12 quantity of fleet's vehicle of fleet 11 is more, the effect of average energy consumption is better.
Fig. 8 and Fig. 9 is please referred to, Fig. 8 is a specific embodiment of the drive manner of self driving average energy consumption of the present invention
Flow chart, Fig. 9 be self driving average energy consumption of the present invention drive manner a specific embodiment flow chart.Due to vehicle
The destination of each fleet's vehicle 12 may be different in team 11, therefore then need to be detached from institute when there is fleet's vehicle 12 to reach required destination
Fleet 11.In a specific embodiment, before step S21, also comprise the steps of:
S131: the disengaging organizational information of any fleet's vehicle 12 in fleet 11 is received；And
S132: the environmental information with the driving conditions of current 11 surrounding of fleet is generated；
And following steps will be executed for fleet's vehicle 12 of generation disengaging organizational information:
S133: it generates and is detached from organizational information；
S134: the environmental information with the driving conditions of current 11 surrounding of fleet is received；And
S135: it is detached from fleet 11；
Wherein, after fleet's vehicle 12, which generates, is detached from organizational information, this fleet's vehicle 12 will according to the received environmental information of institute come
It is detached from fleet 11, or further leaves the lane position at current place.In other words, fleet's vehicle 12 of fleet 11 to be detached from
It can determine when to be suitble to changing Lane according to the environmental information for receiving the driving conditions with current 11 surrounding of fleet.And it drives
It sails method and subsequent step S21 is then executed according to the fleet 11 after the fleet's vehicle 12 for excluding to be detached from after the disengaging of this fleet's vehicle 12.
Also include following sub-step in step S23 in a specific embodiment referring back to Fig. 4:
S231: it receives wheel and adjusts planning information；
S232: the principal and subordinate in planning information is adjusted to distribute principal and subordinate's distribution that message carries out more fleet's vehicles 12 according to wheel；And
S233: adjust the wheel in planning information that TIME HISTORY SIGNAL is adjusted to allow each fleet's vehicle 12 according to corresponding wheel timing according to wheel
Cheng Jinhang put in order on wheel tune；
Using above step, and the wheel tune mode for arranging in pairs or groups as described in Figure 2 can be completed wheel and adjust.Wherein in every next round timing,
The fleet's vehicle 12 for being intended to changing Lane all can first confirm the driving conditions of itself surrounding.Under the driving conditions of safety, this fleet's vehicle
12 complete the transformation in lane.
In a specific embodiment, when fleet 11 be located at surrounding driving conditions it is bad in the case of, such as: traffic congestion is intended to convert
Lane when being converted currently without space, when next round timing journey will extend to driving conditions it is preferable when to carry out wheel tune.
And subsequent wheel timing journey will do corresponding adjustment or the former wheel timing journey of maintenance.
In a specific embodiment, when 11 long-time of fleet has a vehicle to follow in rear and the serious progress for interfering wheel to adjust
When, control loop 2 of the invention will invite this vehicle to be added into fleet 11, allow whereby drive manner of the present invention can smoothly into
Row.
In a specific embodiment, cause when unexpected driving conditions variation has occurred in fleet 11 during carrying out wheel tune
Fleet's vehicle 12 of changing Lane is adjusted to 11 rear of fleet without the wheel of the law, and control loop 2 of the invention will force to allow this fleet's vehicle 12
It is detached from fleet 11.Drive manner is allowed to go on smoothly whereby.
Compared to known techniques, the control loop 2 and its method of self driving average energy consumption of the invention by driving automatically
It sails vehicle and forms fleet 11 using car networking, and carry out vehicle wheel tune in a manner of traveling of connecting.With series connection traveling for optimize
Mode use path area.This control loop 2 using vehicle wheel tune, it is in due course and appropriate each fleet's vehicle 12 wheel is allowed to be transferred to
First, and then the energy consumption of average each fleet's vehicle 12.The present invention improves known techniques also with single car voluntarily
The limit for carrying out energy saving also avoids only as oversize vehicle energy dissipation brought by traveling ahead unevenness and driving environment
The dangerous facts.Control loop 2 of the invention can also assist the less well fleet's vehicle 12 of vehicle condition smoothly to arrive at the destination.
By the detailed description of embodiments above, it would be desirable to more clearly describe feature and spirit of the invention, and not be
Scope of the invention is limited with above-mentioned revealed specific embodiment.On the contrary, each the purpose is to wish to cover
Kind change and tool equality is arranged in the scope of the scope of the patents to be applied of the invention.
Claims (10)
1. a kind of control loop of self driving average energy consumption, applied to the fleet with multiple fleet's vehicles, feature exists
In the control loop includes:
One vehicle condition detection unit is set at least one fleet's vehicle, to detect the present position of the fleet, work as front truck
Situation and destination, and generate a situation of remote；
One control unit is connect with the vehicle condition detection unit, should to generate a wheel tune planning information after receiving the situation of remote
It includes that a wheel adjusts TIME HISTORY SIGNAL and a principal and subordinate to distribute signal that wheel, which adjusts planning information,；And
One principal and subordinate, which takes turns, adjusts unit, connect with the control unit, distributes signal according to the principal and subordinate and more fleet's vehicles are carried out principal and subordinate
Distribution, and then more fleet's vehicles are distributed into main body's vehicle and at least one from fleet's vehicle, and according to having between wheel timing and
The wheel tune TIME HISTORY SIGNAL of wheel tune sequence allow each fleet's vehicle according to corresponding wheel timing journey put in order on wheel tune.
2. the control loop of self driving average energy consumption as described in claim 1, which is characterized in that the wheel tune planning information
It is generated by the control unit of main body's vehicle.
3. the control loop of self driving average energy consumption as described in claim 1, which is characterized in that respectively fleet's vehicle is in this
Putting in order in fleet, with main body Che Qian and this at least one arranged from the posterior sequence of fleet's vehicle.
4. the control loop of self driving average energy consumption as described in claim 1, which is characterized in that also include:
One tissue fleet's unit, connect with the control unit, to generate an application organizational information or a disengaging organizational information；With
And
One environmental detection unit is connect with the control unit, to detect the driving conditions of current surrounding, and generates environment letter
Breath；
Wherein the control unit also can receive this application organizational information of the external vehicle to be added that the fleet is added, or receive
It is intended to be detached from the disengaging organizational information of at least the one of fleet fleet's vehicle in the fleet, when the control unit receives this application group
After knitting information, which generates one according to the situation of remote of the vehicle to be added and the environmental information and agrees to organizational information,
And the vehicle to be added receives the agreement organizational information and the fleet is added and then after becoming wherein fleet's vehicle of the fleet,
The control loop generates the wheel tune planning information according to the current situation of remote of the fleet；When the fleet, vehicle generates the disengaging group
After knitting information, which rolls over the control unit and is detached from the fleet according to the current environmental information of the fleet.
5. the control loop of self driving average energy consumption as claimed in claim 4, which is characterized in that the wheel tune planning information
Also wheel is added without comprising the poor fleet's vehicle of a vehicle condition to adjust.
6. a kind of drive manner of self driving average energy consumption, applied to the fleet with multiple fleet's vehicles, feature exists
In the drive manner comprises the steps of:
Receive more fleet's vehicles has present position, Current vehicle conditions and a situation of remote of destination；
A wheel, which is generated, according to the situation of remote adjusts planning information；And
More fleet's vehicles are subjected to principal and subordinate's distribution according to the wheel tune planning information, and allow respectively fleet's vehicle planned according to the wheel tune
In information corresponding wheel timing journey put in order on wheel tune.
7. the drive manner of self driving average energy consumption as claimed in claim 6, which is characterized in that in " receiving more should
Fleet's vehicle has present position, Current vehicle conditions and a situation of remote of destination " before, also comprise the steps of:
Receive an application organizational information of the external vehicle to be added that the fleet is added；
It receives the fleet and those current situation of remote of the vehicle to be added and is respectively provided with the fleet and the vehicle surrounding to be added
Driving conditions multiple environmental informations；And
According at least one in those situation of remote and those environmental informations to generate an agreement organizational information；
Wherein, which is added the fleet after receiving the agreement organizational information and becomes wherein fleet's vehicle.
8. the drive manner of self driving average energy consumption as claimed in claim 7, which is characterized in that in " receiving external desire
This application organizational information of the vehicle to be added of the fleet is added " before, also comprise the steps of:
It generates one and invites organizational information；
Wherein, which generates this application organizational information according to the received invitation organizational information of institute.
9. the drive manner of self driving average energy consumption as claimed in claim 6, which is characterized in that in " more vehicles of reception
Before situation of remote with present position, Current vehicle conditions and destination of team's vehicle ", also comprise the steps of:
Receive any fleet's vehicle in the fleet one is detached from organizational information；And
Generate an environmental information with the driving conditions of current fleet's surrounding；
Wherein, after when the fleet, vehicle generates the disengaging organizational information, which is detached from the fleet according to the environmental information.
10. the drive manner of self driving average energy consumption as claimed in claim 6, which is characterized in that wheel tune planning letter
Breath is also added without wheel comprising the poor fleet's vehicle of a vehicle condition and adjusts.
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Also Published As
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| CN109597414B (en) | 2022-03-18 |
| TW202022790A (en) | 2020-06-16 |
| TWI704521B (en) | 2020-09-11 |
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