CN111028543A - Multi-vehicle synchronous operation control method for automatic driving vehicle - Google Patents
Multi-vehicle synchronous operation control method for automatic driving vehicle Download PDFInfo
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Abstract
The invention relates to a multi-vehicle synchronous operation control method for an automatic driving vehicle, which comprises five steps of constructing vehicle self-positioning hardware equipment, constructing a synchronous operation data control network, setting an identification mark, presetting a vehicle operation control state and operation control and the like. The invention has simple and easy control operation, is convenient for the popularization of the multi-vehicle synchronous operation control operation technology, has good universality and reliability, and has high data acquisition precision, strong data exchange capability, good anti-interference performance and high communication speed in the control operation process, thereby greatly improving the reliability and stability of the multi-vehicle synchronous operation control.
Description
This patent is the divisional application, and the information of former application is as follows, the name: a multi-vehicle synchronous operation control method of an automatic driving vehicle is disclosed in application number 2017111471878, application date: 2017-11-17.
Technical Field
The invention relates to an operation control method for an unmanned vehicle, and belongs to the technical field of unmanned driving.
Background
With the popularization and application of the unmanned technology, the unmanned vehicles are gradually popularized and applied, but currently, in the operation of the unmanned vehicles, mainly, each unmanned vehicle carries out operation control and operation state monitoring through a respective automatic driving device, although the requirement of the operation of the unmanned vehicles can be met, when a plurality of unmanned vehicles simultaneously operate in the same range, each unmanned vehicle in the area operates, effective data interaction is lacked among the vehicles, so that the operation control precision of each unmanned vehicle in the same area is poor, the operation synchronism of the vehicles is poor, the control and operation reliability and stability of the vehicles are relatively poor, and aiming at the problem, the unmanned vehicles are mainly controlled through a remote upper control server at present, although certain control operation can be carried out, however, the data interaction control operation has low working efficiency, and the control signal is easily interfered, so that a plurality of unmanned vehicles lack effective and timely control during operation, and therefore, aiming at the current situation, a brand-new synchronous operation control method for the plurality of unmanned vehicles is urgently needed to be developed to meet the actual use requirement.
Disclosure of Invention
The invention aims to overcome the defects and provide an online hot upgrading method for a sub-architecture software network.
In order to realize the purpose, the invention is realized by the following technical scheme:
a multi-vehicle synchronous operation control method for an automatic driving vehicle comprises the following steps:
firstly, constructing vehicle self-positioning hardware equipment, firstly, according to use requirements, arranging at least eight millimeter wave distance measuring radars and laser distance measuring radars on each vehicle needing to synchronously run, wherein the millimeter wave distance measuring radars and the laser distance measuring radars are uniformly distributed on the outer side surface of the vehicle around the axis of the vehicle, and a wireless data communication device, a GNSS satellite navigation device, an identification address coding device and a synchronous running control terminal are arranged in an automatic driving control system of each vehicle needing to synchronously run;
establishing a synchronous operation data control network, namely establishing data connection with wireless data communication devices in vehicles in the first step through a current wireless data communication network, establishing data connection with at least one data processing server based on a cloud platform through the wireless data communication network, so as to form a primary data communication network together, and establishing data connection between vehicles in the first step through the wireless data communication network to form a secondary data communication network;
setting identification marks, after finishing the second step of operation, firstly establishing data communication between the synchronous operation control terminal of each operating vehicle and a cloud platform-based data processing server of a primary data communication network through a wireless data communication device, then sending a coding strategy of communication identification address data to the synchronous operation control terminal of each operating vehicle by the data processing server, then driving the identification address coding device of the vehicle by the synchronous operation control terminal of the vehicle to compile mutually independent communication identification address data of each vehicle according to the coding strategy, sending each communication identification address data to the cloud platform-based data processing server for backup, establishing a statistical data list corresponding to each vehicle communication identification address data in the cloud platform-based data processing server, and simultaneously taking each vehicle communication identification address data as addressing data, establishing a vehicle running state data statistical list corresponding to each vehicle;
and fourthly, presetting a vehicle operation control state, and after the third step is finished, setting vehicle operation control parameters in the data processing server based on the cloud platform, wherein the vehicle operation control parameters comprise: the method comprises the steps that a minimum vehicle synchronous operation interval, a maximum synchronous operation interval, a minimum safe distance between a vehicle and a road surface barrier, a speed difference adjusting range between adjacent vehicles and at least three vehicle distribution layout structures of multi-vehicle synchronous operation are arranged, and then synchronous mapping files of vehicle distribution layout structure information of the minimum vehicle synchronous operation interval data, the maximum synchronous operation interval data, the minimum safe distance between the vehicle and the road surface barrier, the speed difference adjusting range between the adjacent vehicles and at least three multi-vehicle synchronous operation are sent to a synchronous operation control terminal of each operating vehicle;
fifthly, operation control, after the fourth step is completed, the automatic driving control system of each vehicle drives each vehicle to independently operate, on one hand, the first-level data communication network sends vehicle operation state information to the data processing server based on the cloud platform, on the other hand, the relative position of the current operation of other vehicles in the second-level data communication network is obtained, and when the distance between the vehicles in the second-level data communication network is larger than the maximum synchronous operation distance data, each vehicle independently operates, when the distance between two or more vehicles in each vehicle in the second-level data communication network is smaller than the maximum synchronous operation distance data, each vehicle in the maximum synchronous operation distance performs synchronous control operation, and when the vehicles perform synchronous control operation, the vehicle distribution structure performs primary positioning on the operation position of each vehicle from the multi-vehicle synchronous operation set in the fourth step, and then, detecting and regulating the distance and the speed between the vehicles which synchronously run and the obstacles on the road surface according to the millimeter wave distance measuring radar, the laser distance measuring radar and the GNSS satellite navigation device, thereby meeting the requirement of the synchronous running operation of the vehicles.
Further, in the first step, the wireless data communication device is based on any one or more of a WIFI wireless communication system, a Zigbee wireless communication system, a DSRC wireless communication system level and a RFID radio frequency communication system.
Furthermore, in the millimeter wave range radar and the laser range radar in the first step, the millimeter wave range radar and the laser range radar are hinged with the outer side of the outer side face of the vehicle through the turntable mechanism, and the axes of the millimeter wave range radar and the laser range radar form an included angle of 0-180 degrees with the measuring outer side face and the road surface.
Furthermore, in the second step, the wireless data communication network is formed by using any one or more of the internet, the internet of things and the radio frequency communication network.
Furthermore, the communication identification address data in the third step is at least three sections of octal or hexadecimal data.
Furthermore, in the fourth step, the minimum vehicle synchronous operation distance and the minimum safe distance between the vehicle and a road obstacle are 0.1-0.5 m, the maximum synchronous operation distance data is 5-20 m, the vehicle speed difference adjusting range between adjacent vehicles is 0.5-10 km/h, and the vehicle distribution layout structure in the multi-vehicle synchronous operation is any one of a linear structure, a rectangular structure, an annular structure, a triangular structure, a trapezoidal structure and a wedge structure.
Further, in the fourth step, when the vehicle operation control parameters are set in the data processing server based on the cloud platform, on one hand, the industrial computer, the PC computer and the mobile communication device are directly connected with the data processing server based on the cloud platform and input the vehicle operation control parameters, and on the other hand, the vehicle operation control parameters are sent to the data processing server based on the cloud platform through each vehicle synchronous operation control terminal.
Furthermore, in the fifth step, the vehicle operation information in the data processing server based on the cloud platform is collected every 1-10 minutes, and the vehicle operation information collected every time is stored by adopting a stack structure.
The invention has simple and easy control operation, is convenient for the popularization of the multi-vehicle synchronous operation control operation technology, has good universality and reliability, and has high data acquisition precision, strong data exchange capability, good anti-interference performance and high communication speed in the control operation process, thereby greatly improving the reliability and stability of the multi-vehicle synchronous operation control.
Drawings
FIG. 1 is a flow chart of a control method according to the present invention;
FIG. 2 is a schematic diagram of a synchronous operation data control network architecture;
fig. 3 is a schematic diagram of a layout of multi-vehicle synchronous operation of an autonomous vehicle.
Detailed Description
Example 1
As shown in fig. 1, 2 and 3, a method for controlling the multi-vehicle synchronous operation of an automatic driving vehicle comprises the following steps:
firstly, constructing vehicle self-positioning hardware equipment, firstly, according to use requirements, arranging at least eight millimeter wave distance measuring radars and laser distance measuring radars on each vehicle needing to synchronously run, wherein the millimeter wave distance measuring radars and the laser distance measuring radars are uniformly distributed on the outer side surface of the vehicle around the axis of the vehicle, and a wireless data communication device, a GNSS satellite navigation device, an identification address coding device and a synchronous running control terminal are arranged in an automatic driving control system of each vehicle needing to synchronously run;
establishing a synchronous operation data control network, namely establishing data connection with wireless data communication devices in vehicles in the first step through a current wireless data communication network, establishing data connection with at least one data processing server based on a cloud platform through the wireless data communication network, so as to form a primary data communication network together, and establishing data connection between vehicles in the first step through the wireless data communication network to form a secondary data communication network;
setting identification marks, after finishing the second step of operation, firstly establishing data communication between the synchronous operation control terminal of each operating vehicle and a cloud platform-based data processing server of a primary data communication network through a wireless data communication device, then sending a coding strategy of communication identification address data to the synchronous operation control terminal of each operating vehicle by the data processing server, then driving the identification address coding device of the vehicle by the synchronous operation control terminal of the vehicle to compile mutually independent communication identification address data of each vehicle according to the coding strategy, sending each communication identification address data to the cloud platform-based data processing server for backup, establishing a statistical data list corresponding to each vehicle communication identification address data in the cloud platform-based data processing server, and simultaneously taking each vehicle communication identification address data as addressing data, establishing a vehicle running state data statistical list corresponding to each vehicle;
and fourthly, presetting a vehicle operation control state, and after the third step is finished, setting vehicle operation control parameters in the data processing server based on the cloud platform, wherein the vehicle operation control parameters comprise: the method comprises the steps that a minimum vehicle synchronous operation interval, a maximum synchronous operation interval, a minimum safe distance between a vehicle and a road surface barrier, a speed difference adjusting range between adjacent vehicles and at least three vehicle distribution layout structures of multi-vehicle synchronous operation are arranged, and then synchronous mapping files of vehicle distribution layout structure information of the minimum vehicle synchronous operation interval data, the maximum synchronous operation interval data, the minimum safe distance between the vehicle and the road surface barrier, the speed difference adjusting range between the adjacent vehicles and at least three multi-vehicle synchronous operation are sent to a synchronous operation control terminal of each operating vehicle;
fifthly, operation control, after the fourth step is completed, the automatic driving control system of each vehicle drives each vehicle to independently operate, on one hand, the first-level data communication network sends vehicle operation state information to the data processing server based on the cloud platform, on the other hand, the relative position of the current operation of other vehicles in the second-level data communication network is obtained, and when the distance between the vehicles in the second-level data communication network is larger than the maximum synchronous operation distance data, each vehicle independently operates, when the distance between two or more vehicles in each vehicle in the second-level data communication network is smaller than the maximum synchronous operation distance data, each vehicle in the maximum synchronous operation distance performs synchronous control operation, and when the vehicles perform synchronous control operation, the vehicle distribution structure performs primary positioning on the operation position of each vehicle from the multi-vehicle synchronous operation set in the fourth step, and then, detecting and regulating the distance and the speed between the vehicles which synchronously run and the obstacles on the road surface according to the millimeter wave distance measuring radar, the laser distance measuring radar and the GNSS satellite navigation device, thereby meeting the requirement of the synchronous running operation of the vehicles.
In this embodiment, in the first step, the wireless data communication device is based on any one or more of a WIFI wireless communication system, a Zigbee wireless communication system, a DSRC wireless communication system, and an RFID radio frequency communication system.
In this embodiment, in the millimeter wave range radar and the laser range radar in the first step, both are hinged with the outer side of the vehicle through the turntable mechanism, and the axes of the millimeter wave range radar and the laser range radar form an included angle of 0-180 degrees with the measuring outer side and the road surface.
In this embodiment, in the second step, the wireless data communication network is formed by using any one or more of the internet, the internet of things, and the radio frequency communication network.
In this embodiment, the third step of communication identification address data is at least three sections of octal or hexadecimal data.
In this embodiment, in the fourth step, the minimum vehicle synchronous operation interval and the minimum safe distance between the vehicle and the road obstacle are 0.1 to 0.5 m, the maximum synchronous operation interval data is 5 to 20 m, the vehicle speed difference adjustment range between adjacent vehicles is 0.5 to 10km/h, and the vehicle distribution layout structure in the multi-vehicle synchronous operation is any one of a linear structure, a rectangular structure, an annular structure, a triangular structure, a trapezoidal structure and a wedge structure.
In this embodiment, in the fourth step, when the vehicle operation control parameters are set in the data processing server based on the cloud platform, on one hand, the industrial computer, the PC computer, and the mobile communication device are directly connected to the data processing server based on the cloud platform and input the vehicle operation control parameters, and on the other hand, the vehicle operation control parameters are sent to the data processing server based on the cloud platform through each vehicle synchronous operation control terminal.
In this embodiment, in the fifth step, the vehicle operation information in the data processing server based on the cloud platform is collected every 1 to 10 minutes, and the vehicle operation information collected every time is stored by using a stack structure.
The invention has simple and easy control operation, is convenient for the popularization of the multi-vehicle synchronous operation control operation technology, has good universality and reliability, and has high data acquisition precision, strong data exchange capability, good anti-interference performance and high communication speed in the control operation process, thereby greatly improving the reliability and stability of the multi-vehicle synchronous operation control.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. A multi-vehicle synchronous operation control method of an automatic driving vehicle is characterized in that: the control method for the multi-vehicle synchronous operation of the automatic driving vehicle comprises the following steps:
firstly, constructing vehicle self-positioning hardware equipment, firstly, according to use requirements, arranging at least eight millimeter wave distance measuring radars and laser distance measuring radars on each vehicle needing to synchronously run, wherein the millimeter wave distance measuring radars and the laser distance measuring radars are uniformly distributed on the outer side surface of the vehicle around the axis of the vehicle, and a wireless data communication device, a GNSS satellite navigation device, an identification address coding device and a synchronous running control terminal are arranged in an automatic driving control system of each vehicle needing to synchronously run;
establishing a synchronous operation data control network, namely establishing data connection with wireless data communication devices in vehicles in the first step through a current wireless data communication network, establishing data connection with at least one data processing server based on a cloud platform through the wireless data communication network, so as to form a primary data communication network together, and establishing data connection between vehicles in the first step through the wireless data communication network to form a secondary data communication network;
setting identification marks, after finishing the second step of operation, firstly establishing data communication between the synchronous operation control terminal of each operating vehicle and a cloud platform-based data processing server of a primary data communication network through a wireless data communication device, then sending a coding strategy of communication identification address data to the synchronous operation control terminal of each operating vehicle by the data processing server, then driving the identification address coding device of the vehicle by the synchronous operation control terminal of the vehicle to compile mutually independent communication identification address data of each vehicle according to the coding strategy, sending each communication identification address data to the cloud platform-based data processing server for backup, establishing a statistical data list corresponding to each vehicle communication identification address data in the cloud platform-based data processing server, and simultaneously taking each vehicle communication identification address data as addressing data, establishing a vehicle running state data statistical list corresponding to each vehicle;
and fourthly, presetting a vehicle operation control state, and after the third step is finished, setting vehicle operation control parameters in the data processing server based on the cloud platform, wherein the vehicle operation control parameters comprise: the method comprises the steps that a minimum vehicle synchronous operation interval, a maximum synchronous operation interval, a minimum safe distance between a vehicle and a road surface barrier, a speed difference adjusting range between adjacent vehicles and at least three vehicle distribution layout structures of multi-vehicle synchronous operation are arranged, and then synchronous mapping files of vehicle distribution layout structure information of the minimum vehicle synchronous operation interval data, the maximum synchronous operation interval data, the minimum safe distance between the vehicle and the road surface barrier, the speed difference adjusting range between the adjacent vehicles and at least three multi-vehicle synchronous operation are sent to a synchronous operation control terminal of each operating vehicle;
fifthly, operation control, after the fourth step is completed, the automatic driving control system of each vehicle drives each vehicle to independently operate, on one hand, the first-level data communication network sends vehicle operation state information to the data processing server based on the cloud platform, on the other hand, the relative position of the current operation of other vehicles in the second-level data communication network is obtained, and when the distance between the vehicles in the second-level data communication network is larger than the maximum synchronous operation distance data, each vehicle independently operates, when the distance between two or more vehicles in each vehicle in the second-level data communication network is smaller than the maximum synchronous operation distance data, each vehicle in the maximum synchronous operation distance performs synchronous control operation, and when the vehicles perform synchronous control operation, the vehicle distribution structure performs primary positioning on the operation position of each vehicle from the multi-vehicle synchronous operation set in the fourth step, then, the distance between vehicles running synchronously, the speed of the vehicles and the obstacles on the road surface are detected, regulated and controlled according to the millimeter wave distance measuring radar, the laser distance measuring radar and the GNSS satellite navigation device, so that the requirement of the vehicles on synchronous running operation is met;
in the first step, the wireless data communication device is used together by any one or more of a WIFI-based wireless communication system, a Zigbee wireless communication system, a DSRC wireless communication system level and an RFID radio frequency communication system;
in the first step, the millimeter wave range radar and the laser range radar are hinged with the outer side of the outer side surface of the vehicle through the turntable mechanism, and the axes of the millimeter wave range radar and the laser range radar form an included angle of 0-180 degrees with the outer side surface to be measured and the road surface;
in the second step, the wireless data communication network is formed by using any one or more of the internet, the internet of things and the radio frequency communication network.
2. The on-line hot-upgrade method for a sub-architecture software network according to claim 1, characterized in that: and the third step of communication identification address data is at least three sections of octal or hexadecimal data.
3. The on-line hot-upgrade method for a sub-architecture software network according to claim 1, characterized in that: in the fourth step, the minimum vehicle synchronous operation distance and the minimum safe distance between the vehicle and a road obstacle are 0.1-0.5 m, the maximum synchronous operation distance data is 5-20 m, the speed difference adjusting range between adjacent vehicles is 0.5-10 km/h, and the vehicle distribution layout structure in the multi-vehicle synchronous operation is any one of a linear structure, a rectangular structure, an annular structure, a triangular structure, a trapezoidal structure and a wedge-shaped structure.
4. The on-line hot-upgrade method for a sub-architecture software network according to claim 1, characterized in that: in the fourth step, when vehicle operation control parameters are set in the data processing server based on the cloud platform, on one hand, the industrial computer, the PC computer and the mobile communication equipment are directly connected with the data processing server based on the cloud platform and input the vehicle operation control parameters, and on the other hand, the vehicle operation control parameters are sent to the data processing server based on the cloud platform through the vehicle synchronous operation control terminals.
5. The on-line hot-upgrade method for a sub-architecture software network according to claim 1, characterized in that: and in the fifth step, the vehicle operation information in the data processing server based on the cloud platform is acquired every 1-10 minutes, and the vehicle operation information acquired every time is stored by adopting a stack structure.
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| CN111028543B (en) | 2020-10-13 |
| CN107784865A (en) | 2018-03-09 |
| CN107784865B (en) | 2019-11-29 |
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