CN114572318A

CN114572318A - Intelligent road train, driving control system and method

Info

Publication number: CN114572318A
Application number: CN202210298334.6A
Authority: CN
Inventors: 黄超; 刘丝雨; 郭洁琼; 张娜思; 刘滨
Original assignee: Suzhou Mazhuo Intelligent Technology Co ltd
Current assignee: Suzhou Mazhuo Intelligent Technology Co ltd
Priority date: 2022-03-25
Filing date: 2022-03-25
Publication date: 2022-06-03

Abstract

The invention relates to an intelligent road train, a driving control system and a driving control method, wherein the intelligent road train comprises a plurality of vehicles and connecting pieces connected between adjacent vehicles; the vehicles comprise a driving vehicle at the head and a plurality of following vehicles; the connecting piece is arranged between the rear side end of the front vehicle and the front side end of the rear vehicle; the driving control system and the driving control method are used for realizing that a driving vehicle is driven by people under the trackless condition, generating a running track, following the vehicle without the people and following the running track; effectively reduce driver's labour cost, reduce the energy consumption of all vehicles, promote the current efficiency of road simultaneously.

Description

Intelligent road train, driving control system and method

Technical Field

The invention relates to the technical field of vehicle engineering, in particular to an intelligent road train, a running control system and a running control method.

Background

The three major directions and targets for automobile technology development are to reduce the driving load of drivers, reduce energy consumption and improve road traffic efficiency. Firstly, at present, research and development focuses for solving the load of a driver are driving assistance ADAS and unmanned technology, however, the research direction is still immature, great potential safety hazards exist, even if great progress is achieved, mature application is difficult in a short period, and large-scale application is far away; secondly, energy conservation and consumption reduction are another direction of automobile technology development, China will put forward a staged energy conservation and emission reduction target every five years, and the existing energy conservation and emission reduction modes comprise electromotion, hybrid power, active barrier, various engine oil saving technologies, complete automobile kinematic control and the like; each technology can achieve certain effect, but the existing energy-saving technologies are more or less close to the bottleneck period; a new energy-saving technical route is provided creatively, and the method is an important means for further reducing the energy consumption of the automobile and breaking through the bottleneck of energy conservation and consumption reduction; thirdly, the road passing efficiency not only directly influences the driving experience of people, but also more directly influences the running efficiency of national economy, and simultaneously has direct influence on the energy consumption of automobiles.

According to incomplete statistics, the annual traffic flow of China is about 1.3 trillion vehicle kilometers, and the total cost of driving manpower is over 1.5 trillion; the energy consumption of the automobile is more than 1 trillion, and the investment of the infrastructure of the newly built road is more than 5000 billion. If a new automobile technology can be developed and a novel driving scheme is realized, the driving load and labor cost of the automobile are reduced, the driving energy consumption is reduced, the traffic efficiency is improved, or great economic and social benefits are brought; therefore, the invention develops an intelligent road train, a driving control system and a method, which are used for solving the problems in the prior art.

Disclosure of Invention

The invention aims to: the intelligent highway train, the running control system and the running control method are provided to solve the problems that in the prior art, the safety problem is caused by the load of a driver when a vehicle runs, the running energy consumption of the vehicle is high, and the passing efficiency is relatively low.

The technical scheme of the invention is as follows: an intelligent road train comprises a plurality of vehicles and connecting pieces connected between adjacent vehicles; the vehicles comprise a driving vehicle at the head and a plurality of following vehicles; the connecting piece is arranged between the rear side end of the front vehicle and the front side end of the rear vehicle.

Preferably, the connecting piece is provided with a fixed connection end and an adsorption end, the fixed connection end and the adsorption end are both hinged with the vehicle, an electromagnet is arranged in the adsorption end, and strong magnetic adsorption is adopted between the adsorption end and the fixed connection end.

Preferably, both ends of the fixed connection end are provided with buffer parts.

Based on an intelligence highway train, this application has still developed a control system that traveles, includes:

the positioning module is implanted into the driving vehicle and the following vehicle and used for acquiring real-time coordinate positions of all vehicles in the same coordinate system;

the track calculating module is implanted into the driving vehicle or all vehicles, accumulates the coordinate positions of the corresponding vehicles and generates a running track in real time;

the active tracking control module is implanted into the following vehicle, acquires the running track generated in the track resolving module, analyzes the track and the running track of the following vehicle, generates a control instruction of the following vehicle, realizes that the real-time coordinate position of the following vehicle is continuously close to the running track, and realizes the same-track following.

Preferably, the trajectory calculation module is implanted in the driving vehicle and generates a running trajectory, and all the following vehicles acquire the running trajectory of the driving vehicle and follow the same running trajectory.

Preferably, the trajectory calculation module is implanted into a driving vehicle and all following vehicles and respectively generates corresponding running trajectories, and the following vehicles acquire the running trajectories of the front vehicle and respectively follow the running trajectories along the corresponding running trajectories.

Preferably, the automatic separation device further comprises a connecting piece automatic separation module used for controlling the electrification and disconnection of the electromagnet and further controlling the connection and disconnection of the connecting piece.

Based on an intelligent road train, the application also develops a driving control method, which comprises the following steps:

establishing a two-dimensional coordinate system by taking any vehicle as a reference system;

initializing coordinate positions of all vehicles based on a two-dimensional coordinate system, and defining the coordinate positions as initial coordinates;

the driving vehicle is driven manually, coordinate positions are generated in real time in the traveling process, and the coordinate positions are accumulated to generate a running track A;

the real-time coordinate position of the first following vehicle is continuously close to the running track A and moves along the running track A, and meanwhile, the real-time coordinate position of the first following vehicle can be accumulated to generate a running track B;

the real-time coordinate position of a second following vehicle is continuously close to the running track A or the running track B and moves along the running track A or the running track B, and meanwhile, the real-time coordinate position can be accumulated to generate a running track C;

and the real-time coordinate position of the nth following vehicle is continuously close to the running track A or the running track X of the front vehicle and moves along the running track A or the running track X.

Preferably, the coordinate system is established with the driving vehicle as a reference system.

Compared with the prior art, the invention has the advantages that:

on the basis of the existing intelligent control of the automobile, the intelligent road train and the system method thereof are developed, the train-by-train running of the automobile is realized, the driving load can be greatly reduced, the safety control performance is improved, the running energy consumption is reduced, and the running mileage is increased; the specific flow field characteristic of the intelligent highway train can save energy by 10-30%, and the intelligent highway train can be applied to electric vehicles, greatly improve mileage and be applied to trucks, so that the cost is greatly reduced.

Drawings

The invention is further described with reference to the following figures and examples:

FIG. 1 is a schematic diagram of an application scenario of an intelligent road train according to the present invention;

FIG. 2 is a block diagram of an intelligent road train according to the present invention;

FIG. 3 is a schematic view of the construction of the connector of the present invention;

fig. 4 is a two-dimensional coordinate system established based on the driving vehicle according to the present invention.

Detailed Description

The present invention will be further described in detail with reference to the following specific examples:

as shown in fig. 1-3, an intelligent road train comprises a plurality of vehicles, and connecting pieces 3 connected between adjacent vehicles; the vehicles comprise a driving vehicle 1 at the head and a plurality of following vehicles 2; the connecting piece 3 is arranged between the rear side end of the front vehicle and the front side end of the rear vehicle and is provided with a fixed connection end 31 and an adsorption end 32, and the fixed connection end 31 and the adsorption end 32 are both hinged with the vehicle; wherein, the two end parts of the fixed connection end 31 are provided with buffer parts 33, and buffer springs can be adopted, so that the buffer in the motion process and the butt joint process between vehicles is convenient; the adsorption end 32 is internally provided with an electromagnet and is adsorbed by strong magnetism with the fixed connection end 31, and the butt joint and the separation of the adsorption end and the fixed connection end are realized by switching on and off the electromagnet.

Regarding the number of connected vehicles, as for the length of the vehicle (the length of the train), the existing standard can be referred to, based on the existing standard GB1589(2004) about 16.5 m of the length of the train of the passenger car, the requirement of 3 ordinary cars for articulated train running can be met, and the length of the truck is 20 m, 2-4 trucks for train running can be realized, so that the road freight cost is greatly reduced.

This built-in control system that traveles of intelligence highway train for control the vehicle, mainly include:

(1) the positioning module is used for realizing centimeter-level positioning by fusing a gyroscope and a UWB (ultra-wideband) positioning technology, implanting the positioning module into a driving vehicle and a following vehicle and acquiring real-time coordinate positions of all vehicles in the same coordinate system;

(2) the track resolving module is implanted into a driving vehicle or all vehicles, accumulates coordinate positions of the corresponding vehicles in the running process and generates a running track in real time;

(3) the active tracking control module is implanted into the following vehicle, acquires a running track generated in the track resolving module, analyzes the track/real-time coordinate position and the running track of the following vehicle, generates a control instruction, and realizes that the real-time coordinate position of the following vehicle continuously approaches the running track by controlling steering, braking, an accelerator and a signal lamp of the following vehicle so as to realize same-track following; there are two implementations regarding following of a following vehicle: firstly, a track resolving module is implanted into a driving vehicle to generate a running track, and all following vehicles acquire the running track of the driving vehicle and follow the same running track; and secondly, the track resolving module is implanted into the driving vehicle and all the following vehicles, generates corresponding running tracks respectively, and the following vehicles acquire the running tracks of the front vehicle and follow the running tracks respectively along the corresponding running tracks.

(4) The automatic connecting piece separating module is used for controlling the electrification and disconnection of the electromagnet and further controlling the connection and disconnection of the connecting piece, is a key for further improving the operation efficiency of the system, and realizes that the rapid butt joint, hinging and separation in the automobile operation state are the preconditions for effectively improving the rapid grouping and row operation of the automobiles.

When the driving control system is adopted to drive the intelligent road train to move, the specific driving control method is as follows with reference to fig. 4:

(1) establishing a two-dimensional coordinate system by taking any vehicle as a reference system, wherein in the embodiment, the coordinate system is established by taking a driving vehicle as the reference system;

(2) initializing coordinate positions of all vehicles based on a two-dimensional coordinate system, and defining the coordinate positions as initial coordinates; namely: the coordinates of the driving vehicle are (0,0), the initial coordinates of the first following vehicle are (-X1, 0), and the initial coordinates of the second following vehicle are (-X2, 0,) … …

(3) The driving vehicle is driven to run artificially, coordinate positions are generated in real time during running, namely (a1,0), (a2, b2), (a3, b3), (a4, b4), (a5, b5), (a6, b6) and the like, and the running track A is generated by accumulating the coordinate positions;

(4) in the figure, the real-time coordinate positions of the following vehicles are sequentially close to the coordinates of points on the running track A, in the figure, the positions (0,0) to (a1,0) are straight-line tracks, the vehicles do not need to turn, the following vehicles sequentially seek tracks from the position (-X1, 0), the following vehicles pass through the positions (0,0) and (a1,0), after the position (a1,0) is reached, the position (m1, n1) needing to be next close is next, deflection occurs between the two positions, and the following vehicles need to rotate

After the angle, the position is continuously approached to the position (m1, n1), and the like is repeated, so that the same track following is realized.

Regarding step (4) above, all following vehicles move along the travel track a, the following embodiments may also be adopted:

the real-time coordinate position of the nth following vehicle is continuously close to the running track A or the running track X of the front vehicle and moves along the running track A or the running track X; and analogizing in turn, each following vehicle can move along with the running track of the previous vehicle.

By combining the driving control system and the method, the intelligent road train is used for realizing that the driving vehicle is driven by people and the following vehicle actively seeks unmanned driving under the trackless condition, thereby greatly reducing the labor cost of the driver; if only two vehicles are arranged in a row, the two-vehicle driving mode is changed from the original two-person driving mode into one-vehicle driving mode, the cost of a driver is reduced by 50%, the three-vehicle driving mode is reduced by 67%, and the five-vehicle driving mode is reduced by 80%; in terms of reducing energy consumption, when the automobile runs in a row, the average wind resistance of the automobile is reduced according to the aerodynamic principle; taking a certain type of car as an example, when a single car runs, the wind resistance coefficient is 0.372; when two vehicles run in a row, the average wind resistance coefficient is 0.32; when five vehicles are in a row, the average wind resistance system is only 0.24, and the energy can be saved by more than 15-30% when two vehicles are in a row and five vehicles are in a row respectively; in the aspect of road traffic efficiency, after vehicles run in a row, the average distance between the vehicles is obviously reduced, so the traffic efficiency is obviously improved, the congestion condition of the road is also obviously improved, the running speed of the vehicles is further improved, and the energy consumption is saved.

The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose of the embodiments is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it is therefore intended that the present embodiments be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Claims

1. The utility model provides an intelligence highway train which characterized in that: comprises a plurality of vehicles and connecting pieces connected between adjacent vehicles; the vehicles comprise a driving vehicle at the head and a plurality of following vehicles; the connecting piece is arranged between the rear side end of the front vehicle and the front side end of the rear vehicle.

2. The intelligent road train of claim 1, wherein: the connecting piece is provided with a fixed connection end and an adsorption end, the fixed connection end and the adsorption end are both hinged with the vehicle, the adsorption end is internally provided with an electromagnet, and strong magnetic adsorption is adopted between the adsorption end and the fixed connection end.

3. The intelligent road train of claim 2, wherein: and the two end parts of the fixed connection end are provided with buffer parts.

4. A driving control system applied to the inside of an intelligent road train as claimed in any one of claims 1 to 3, comprising:

5. A running control system according to claim 4, characterized in that: the track resolving module is implanted into a driving vehicle and generates running tracks, and all the following vehicles acquire the running tracks of the driving vehicle and follow the same running track.

6. A running control system according to claim 4, characterized in that: the track resolving module is implanted into a driving vehicle and all following vehicles and respectively generates corresponding running tracks, and the following vehicles acquire the running tracks of the front vehicle and respectively follow the running tracks along the corresponding running tracks.

7. A running control system according to claim 4, characterized in that: the automatic separation module of the connecting piece is used for controlling the electrification and disconnection of the electromagnet and further controlling the connection and disconnection of the connecting piece.

8. A driving control method is applied to the intelligent road train of any one of claims 1 to 3 and is used for executing actions, and is characterized by comprising the following specific steps:

9. A running control method according to claim 8, characterized in that: the coordinate system is established with the driving vehicle as a reference system.