CN116578083A - Intelligent network-connected vehicle queue control experiment system - Google Patents

Abstract

The invention relates to the technical field of intelligent network automobiles, and discloses an intelligent network automobile queue control experiment system, which comprises 6 modules, in particular a drive-by-wire chassis module, an industrial personal computer module, a perception module, a navigation module, a communication module and a display module, wherein the drive-by-wire chassis module consists of a drive-by-wire chassis control system, a hub motor, a Maiguener master wheel 1-4, automobile lamps 1-4 and an automobile body 5 parts; the industrial personal computer module is composed of a vehicle-mounted industrial personal computer; the sensing module consists of a laser radar, a binocular vision sensor and a millimeter wave radar; the navigation module consists of a GPS navigation system and an IMU inertial navigation system; the communication module consists of a wireless communication network card and an industrial router; the display module is an LCD liquid crystal display screen, a bicycle system is designed at first, a plurality of bicycles are networked, and the operation of a queue can be realized. In the bicycle mode, the vehicle detects surrounding sensors through the environment sensing equipment, and then intelligent decision and path planning are carried out, so that unmanned driving is realized.

Description

Intelligent network-connected vehicle queue control experiment system

Technical Field

The invention relates to the technical field of intelligent network-connected automobiles, in particular to an intelligent network-connected automobile queue control experiment system.

Background

The intelligent network-connected vehicles and the vehicle queuing system have beyond-visual-range sensing and group autonomous capability, can enable the vehicles to efficiently and compactly cooperatively operate, are effective means for improving traffic efficiency, reducing energy consumption and enhancing driving safety, and one of important future traffic and transportation scenes is that network-connected self-driving vehicles run on roads in a queuing mode. The environment sensing, communication and intelligent control are three core functional blocks of the vehicle queue system. The intelligent vehicle queue control experimental system is used for verifying the perception-communication-control algorithm, so that the development efficiency of the vehicle queue control system algorithm can be greatly improved. The data information generated by the neural network processing is closer to the real track information of the front vehicle, and when the vehicle switches from the CACC controller mode to the ACC controller mode, each vehicle only receives the data information of one vehicle in front, so that the accuracy of the predicted data is improved. In another patent, for example, the patent of CN112445229B entitled "a single-lane multi-queue hierarchical control method coordinated with a pilot vehicle team" constructs a single-lane multi-queue system, and is divided into a pilot vehicle layer formed by pilot vehicles and a sub-queue layer formed by following vehicles, a single-lane multi-queue distributed model predictive controller is built, and the predictive controller is utilized to calculate an optimal predictive control input sequence of a self-vehicle at the current moment to realize self-vehicle control, so as to realize stability following control of the single-lane multi-queue system.

Disclosure of Invention

(one) solving the technical problems

Aiming at the defects of the prior art, the invention provides an intelligent network-connected vehicle queue control experiment system.

(II) technical scheme

In order to realize the aim of completing series experiments of following, overtaking, lane changing, braking and the like of the vehicle queue, verifying an intelligent vehicle queue control algorithm and laying a foundation for the on-road running and the industrialized application of an intelligent network vehicle queue system, the invention provides the following technical scheme: the intelligent network-connected vehicle queue control experiment system comprises 6 modules, in particular a drive-by-wire chassis module, an industrial personal computer module, a perception module, a navigation module, a communication module and a display module, wherein the drive-by-wire chassis module consists of a drive-by-wire chassis control system, a hub motor, a Meggena master wheel 1-4, car lights 1-4 and a car body 5 parts; the industrial personal computer module is composed of a vehicle-mounted industrial personal computer; the sensing module consists of a laser radar, a binocular vision sensor and a millimeter wave radar; the navigation module consists of a GPS navigation system and an IMU inertial navigation system; the communication module consists of a wireless communication network card and an industrial router; the display module is an LCD liquid crystal display.

Preferably, the system comprises N vehicles (N is a positive integer, N < 100), wherein the system comprises 1 pilot vehicle quantity and N-1 following vehicles, and the pilot vehicles and the following vehicles have the same structure.

Preferably, the intelligent network vehicle queue control experiment system can work in two modes, namely a bicycle mode and a queue mode.

Preferably, the bicycle mode operation is as follows: sensing the surrounding environment through a laser radar, a binocular vision sensor and a millimeter wave radar in the running process of the vehicle, and determining the vehicle position and the attitude through a GPS navigation system and an IMU inertial navigation system; and inputting the environment sensing signals to an industrial personal computer for data fusion, performing intelligent decision and path planning according to the fusion result, and transmitting the control signals to a drive-by-wire chassis control system through a Can bus. The drive-by-wire chassis control system controls the hub motor and the car lamp system to work, so that the intelligent car system can stably run, and the display screen can display the car state and the environmental perception result in real time.

Preferably, the train mode can develop a vehicle following experiment, a overtaking experiment, an external vehicle driving-in train experiment and the like, and the train following experiment scene is as follows: the pilot vehicle runs on a road, and N quantity following vehicles sequentially follow the pilot vehicle at smaller inter-vehicle distances;

information such as speed, brake, position and steering wheel rotation angle of the pilot vehicle is transmitted to the following vehicle in real time through the wireless communication module, and after the following vehicle receives signals of the pilot vehicle, the following vehicle firstly carries out signal identification through a firewall to prevent network attack and cause serious traffic accidents;

when the speed of the pilot vehicle is reduced or braking is implemented, corresponding control signals are transmitted to N following vehicles in real time, and the following vehicles timely adopt retarding or braking to prevent rear-end collision.

Preferably, the vehicle queue overtaking experiment scene is as follows: the pilot vehicle runs on the lane 1, and when vehicles A and B which run slowly are encountered in front, the vehicle queue has overtaking intention;

the working flow steps of overtaking are as follows:

the first step: the pilot vehicle calculates the distance between the pilot vehicle and the vehicle B and detects whether other vehicles exist in the lane 2 in real time;

and a second step of: judging whether the overtaking condition is met;

and a third step of: if the overtaking condition is met, the pilot vehicle enters the lane 2 from the lane 1 by controlling the speed and the steering wheel angle, and the control information is synchronized to the following vehicle by the wireless communication module; if the overtaking condition is not met, the pilot vehicle continues to run on the original lane, and waits for proper overtaking time;

fourth step: after the overtaking of the pilot vehicle is completed, the 1 st following vehicle judges whether overtaking conditions are met according to the synchronous control information of the pilot vehicle and the sensing result of the environment of the own vehicle, if so, overtaking is implemented, and if not, the overtaking is waited for until the overtaking is completed;

fifth step: the 2 nd following vehicle, the 3 rd following vehicle and the N th following vehicle complete overtaking.

Preferably, the experimental scene of the external vehicle driving into the vehicle queue is as follows: the pilot vehicle runs on the lane 1, the following vehicles sequentially follow the pilot vehicle to stably run, but an external vehicle is arranged between the ith following vehicle and the (i+1) th following vehicle, the system is disturbed by the external vehicle, the safe and stable running of the vehicle queuing system is adversely affected, and the system can restore the stability through a series of methods.

Preferably, the vehicle queuing system workflow steps are as follows:

the first step: the ith vehicle displays 'you have driven into the vehicle queue system, hopes to drive out as soon as possible' through a display screen to carry out friendly prompt, if an external vehicle drives away, the (i+1) th vehicle reduces the distance between the ith vehicle and the ith vehicle through acceleration, and the subsequent vehicles follow up in sequence; if the external vehicle does not drive away, turning to a second step;

and a second step of: the (i+1) th quantity of vehicles transmits information to a pilot vehicle, the pilot vehicle slows down the speed of the vehicle, the following 1 st quantity of following vehicles to the (i) th quantity of following vehicles synchronously decelerate, and at the moment, the external vehicles generally drive out of a vehicle queue;

and a third step of: the vehicle queuing system is restored to stability.

(III) beneficial effects

Compared with the prior art, the invention provides an intelligent network-connected vehicle queue control experimental system, which has the following beneficial effects:

1. according to the intelligent network-connected vehicle queue control experiment system, a single vehicle system is designed, a plurality of single vehicles are connected in a network mode, and queue operation can be achieved. The system can work in a bicycle mode and a queue mode. In the bicycle mode, the vehicle detects surrounding sensors through the environment sensing equipment, and then intelligent decision and path planning are carried out, so that unmanned driving is realized.

2. According to the intelligent network vehicle queue control experiment system, in a queue mode, a pilot vehicle communicates with a following vehicle through a wireless network, experiments such as vehicle queue following, overtaking and queue stability control can be completed, a controllable algorithm performs experiment verification, the development efficiency of a vehicle queue system is improved, and the intelligent network vehicle queue control experiment system has a remarkable meaning for promoting industrial application of the intelligent network vehicle queue system.

Drawings

FIG. 1 is a bicycle structural component;

FIG. 2 vehicle queue following experimental scenario;

FIG. 3 vehicle queue overtaking experimental scenario;

FIG. 4 is a vehicle queue cut-in workflow diagram;

fig. 5 an external vehicle entrance vehicle queue experimental scenario;

figure 6 external vehicle entrance vehicle queue workflow.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1-6, an intelligent network-connected vehicle queue control experiment system includes N vehicles (N is a positive integer, N < 100), wherein the system includes 1 pilot vehicle quantity and N-1 following vehicles, and the pilot vehicle and the following vehicles have the same structure, as shown in fig. 1. The system comprises 6 modules, namely a drive-by-wire chassis module, an industrial personal computer module, a perception module, a navigation module, a communication module and a display module. The drive-by-wire chassis module consists of a drive-by-wire chassis control system, a hub motor, a Mecanna master wheel 1-4, a car lamp 1-4 and a car body 5 parts; the industrial personal computer module is composed of a vehicle-mounted industrial personal computer; the sensing module consists of a laser radar, a binocular vision sensor and a millimeter wave radar; the navigation module consists of a GPS navigation system and an IMU inertial navigation system; the communication module consists of a wireless communication network card and an industrial router; the display module is an LCD liquid crystal display.

The intelligent network-connected vehicle queue control experimental system can work in two modes, namely a bicycle mode and a queue mode. The bicycle mode operation is as follows: sensing the surrounding environment through a laser radar, a binocular vision sensor and a millimeter wave radar in the running process of the vehicle, and determining the vehicle position and the attitude through a GPS navigation system and an IMU inertial navigation system; and inputting the environment sensing signals to an industrial personal computer for data fusion, performing intelligent decision and path planning according to the fusion result, and transmitting the control signals to a drive-by-wire chassis control system through a Can bus. The drive-by-wire chassis control system controls the hub motor and the car lamp system to work, and the intelligent vehicle system can stably run. The display screen displays the state of the vehicle and the environmental perception result in real time.

The train mode can be used for carrying out vehicle following experiments, overtaking experiments, external vehicle driving-in train experiments and the like. The vehicle queue following experimental scenario is shown in fig. 2: the pilot vehicle runs on the road, and the N following vehicles sequentially follow the pilot vehicle at smaller inter-vehicle distances. Information such as speed, brake, position, steering wheel corner of pilot vehicle pass through wireless communication module and give the following car in real time, and after the following car received pilot vehicle's signal, at first carry out signal identification through preventing the network attack, cause malignant traffic accident. When the speed of the pilot vehicle is reduced or braking is implemented, corresponding control signals are transmitted to N following vehicles in real time, and the following vehicles timely adopt retarding or braking to prevent rear-end collision.

The experimental scene of vehicle queue overtaking is shown in 3: the pilot vehicle runs on the lane 1, and when the pilot vehicle encounters a vehicle A and a vehicle B which run slowly in front, the vehicle queue has overtaking intention. The workflow of overtaking is shown in fig. 4, and the steps are as follows:

the first step: the pilot vehicle calculates the distance between the pilot vehicle and the vehicle B and detects whether other vehicles exist in the lane 2 in real time;

and a second step of: judging whether the overtaking condition is met;

and a third step of: if the overtaking condition is met, the pilot vehicle enters the lane 2 from the lane 1 by controlling the speed and the steering wheel angle, and the control information is synchronized to the following vehicle by the wireless communication module; if the overtaking condition is not met, the pilot vehicle continues to run on the original lane, and waits for proper overtaking time;

fourth step: after the overtaking of the pilot vehicle is completed, the 1 st following vehicle judges whether overtaking conditions are met according to the synchronous control information of the pilot vehicle and the sensing result of the environment of the own vehicle, if so, overtaking is implemented, and if not, the overtaking is waited for until the overtaking is completed;

fifth step: the 2 nd following vehicle and the 3 rd following vehicle until the N th following vehicle finishes overtaking;

the experimental scene of the external vehicle driving into the vehicle queue is shown in fig. 5, the pilot vehicle runs on the lane 1, the following vehicles sequentially follow the pilot vehicle to stably run, but an external vehicle is arranged between the ith following vehicle and the (i+1) th following vehicle, the system is disturbed by the external vehicle, the safe and stable running of the vehicle queue system is adversely affected, and the system is enabled to be restored to be stable through a series of methods. In this case, the vehicle queuing system workflow is as shown in figure 6,

the first step: the ith vehicle displays 'you have driven into the vehicle queue system, hopes to drive out as soon as possible' through a display screen to carry out friendly prompt, if an external vehicle drives away, the (i+1) th vehicle reduces the distance between the ith vehicle and the ith vehicle through acceleration, and the subsequent vehicles follow up in sequence; if the external vehicle does not drive away, turning to a second step;

and a second step of: the (i+1) th quantity of vehicles transmits information to a pilot vehicle, the pilot vehicle slows down the speed of the vehicle, the following 1 st quantity of following vehicles to the (i) th quantity of following vehicles synchronously decelerate, and at the moment, the external vehicles generally drive out of a vehicle queue;

and a third step of: the vehicle queuing system is restored to stability.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (8)

1. Intelligent network allies oneself with vehicle queue control experiment system, including 6 modules, its characterized in that: the system comprises a drive-by-wire chassis module, an industrial personal computer module, a sensing module, a navigation module, a communication module and a display module, wherein the drive-by-wire chassis module consists of a drive-by-wire chassis control system, a hub motor, a Mecanna master wheel 1-4, a car lamp 1-4 and a car body 5 parts; the industrial personal computer module is composed of a vehicle-mounted industrial personal computer; the sensing module consists of a laser radar, a binocular vision sensor and a millimeter wave radar; the navigation module consists of a GPS navigation system and an IMU inertial navigation system; the communication module consists of a wireless communication network card and an industrial router; the display module is an LCD liquid crystal display.

2. The intelligent networked vehicle fleet control experiment system as set forth in claim 1, wherein: the system comprises N vehicles, wherein the N vehicles comprise 1 pilot vehicle quantity and N-1 following vehicles, and the pilot vehicles and the following vehicles have the same structure.

3. The intelligent networked vehicle fleet control experiment system as set forth in claim 1, wherein: the intelligent network-connected vehicle queue control experimental system can work in two modes, namely a bicycle mode and a queue mode.

4. The intelligent networked vehicle fleet control experiment system as set forth in claim 3, wherein: the bicycle mode working process is as follows: sensing the surrounding environment through a laser radar, a binocular vision sensor and a millimeter wave radar in the running process of the vehicle, and determining the vehicle position and the attitude through a GPS navigation system and an IMU inertial navigation system; the environment sensing signals are input to the industrial personal computer for data fusion, intelligent decision and path planning are carried out according to fusion results, then control signals are transmitted to the drive-by-wire chassis control system through the Can bus, the drive-by-wire chassis control system controls the hub motor and the car lamp system to work, stable operation of the intelligent car system is achieved, and the self-car state and the environment sensing results are displayed on the display screen in real time.

5. The intelligent networked vehicle fleet control experiment system as set forth in claim 1, wherein: the train mode can be used for carrying out vehicle following experiments, overtaking experiments, external vehicle driving-in train experiments and the like, and the train following experiment scene is as follows: the pilot vehicle runs on a road, and N quantity following vehicles sequentially follow the pilot vehicle at smaller inter-vehicle distances;

information such as speed, brake, position and steering wheel rotation angle of the pilot vehicle is transmitted to the following vehicle in real time through the wireless communication module, and after the following vehicle receives signals of the pilot vehicle, the following vehicle firstly carries out signal identification through a firewall to prevent network attack and cause serious traffic accidents;

when the speed of the pilot vehicle is reduced or braking is implemented, corresponding control signals are transmitted to N following vehicles in real time, and the following vehicles timely adopt retarding or braking to prevent rear-end collision.

6. The intelligent networked vehicle fleet control experiment system as set forth in claim 5, wherein: the vehicle queue overtaking experiment scene is as follows: the pilot vehicle runs on the lane 1, and when vehicles A and B which run slowly are encountered in front, the vehicle queue has overtaking intention;

the working flow steps of overtaking are as follows:

the first step: the pilot vehicle calculates the distance between the pilot vehicle and the vehicle B and detects whether other vehicles exist in the lane 2 in real time;

and a second step of: judging whether the overtaking condition is met;

and a third step of: if the overtaking condition is met, the pilot vehicle enters the lane 2 from the lane 1 by controlling the speed and the steering wheel angle, and the control information is synchronized to the following vehicle by the wireless communication module; if the overtaking condition is not met, the pilot vehicle continues to run on the original lane, and waits for proper overtaking time;

fourth step: after the overtaking of the pilot vehicle is completed, the 1 st following vehicle judges whether overtaking conditions are met according to the synchronous control information of the pilot vehicle and the sensing result of the environment of the own vehicle, if so, overtaking is implemented, and if not, the overtaking is waited for until the overtaking is completed;

fifth step: the 2 nd following vehicle, the 3 rd following vehicle and the N th following vehicle complete overtaking.

7. The intelligent networked vehicle fleet control experiment system as set forth in claim 5, wherein: the experimental scene of the external vehicle driving into the vehicle queue is as follows: the pilot vehicle runs on the lane 1, the following vehicles sequentially follow the pilot vehicle to stably run, but an external vehicle is arranged between the ith following vehicle and the (i+1) th following vehicle, the system is disturbed by the external vehicle, the safe and stable running of the vehicle queuing system is adversely affected, and the system can restore the stability through a series of methods.

8. The intelligent networked vehicle fleet control experiment system as set forth in claim 5, wherein: the work flow of the vehicle queue system comprises the following steps:

the first step: the ith vehicle displays 'you have driven into the vehicle queue system, hopes to drive out as soon as possible' through a display screen to carry out friendly prompt, if an external vehicle drives away, the (i+1) th vehicle reduces the distance between the ith vehicle and the ith vehicle through acceleration, and the subsequent vehicles follow up in sequence; if the external vehicle does not drive away, turning to a second step;

and a second step of: the (i+1) th quantity of vehicles transmits information to a pilot vehicle, the pilot vehicle slows down the speed of the vehicle, the following 1 st quantity of following vehicles to the (i) th quantity of following vehicles synchronously decelerate, and at the moment, the external vehicles generally drive out of a vehicle queue;

and a third step of: the vehicle queuing system is restored to stability.