TW202022790A - Driving system with average energy consumption from fleet of autonomous cars and method thereof - Google Patents
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- 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
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- 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
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Abstract
Description
一種車聯網的駕駛系統及其方法,尤指一種自駕車車隊中各車輛平均能量消耗的駕駛系統及其方法。 A driving system and method of a connected car, especially a driving system and method of average energy consumption of each vehicle in a self-driving car fleet.
隨著自動駕駛車的發展,在道路環境相對單純的高速公路可能是首先開放的路段。然而,當車輛在高速行駛時,風阻是對油耗影響的重要因素之一。因此,如何降低汽車行駛中遇到的風阻,進而降低能量耗損便是一個重要的議題。 With the development of autonomous vehicles, highways with relatively pure road environments may be the first sections to open. However, when the vehicle is driving at high speed, wind resistance is one of the important factors affecting fuel consumption. Therefore, how to reduce the wind resistance encountered in the driving of the car and thereby reduce the energy consumption is an important issue.
市面上有一種車輛行駛輔助裝置,其包含:空氣阻力分佈取得部、目標行駛位置決定部、行駛輔助部。空氣阻力分佈取得部取得自身車輛的左右方向以及前後方向上的空氣阻力分佈。目標行駛位置決定部利用空氣阻力分佈來決定相對於前方行駛車輛的自身車輛的目標行駛位置。行駛輔助部引導自身車輛朝向目標行駛位置決定部所決定的目標行駛位置移動。此車輛行駛輔助裝置係根據所偵測到的因前方行駛車輛行駛時所造成的對自身車輛周圍之具有較高空氣動力效果的位置後,將自身車輛向相對應的位置引導,藉此改善自身車輛的能量耗損。然而,畢竟僅以單一車輛單獨進行,因此改善能量耗損的程度有限。 There is a vehicle driving assistance device on the market that includes an air resistance distribution acquisition unit, a target driving position determination unit, and a driving assistance unit. The air resistance distribution acquisition unit acquires the air resistance distribution in the left-right direction and the front-rear direction of the own vehicle. The target traveling position determining unit uses the air resistance distribution to determine the target traveling position of the host vehicle relative to the preceding vehicle. The driving assistance unit guides the host vehicle to move toward the target driving position determined by the target driving position determining unit. This vehicle driving assistance device guides the own vehicle to the corresponding position based on the detected position caused by the driving vehicle in front that has a high aerodynamic effect on the surrounding of the own vehicle, thereby improving itself Energy consumption of the vehicle. However, after all, only a single vehicle is used alone, so the extent of improving energy consumption is limited.
市面上另有一種車輛調度系統,藉由車聯網中,自動駕駛車之車對車之間的通訊技術組織車隊以讓車隊依車輛大小進行排列。透過大車排在前方、小車排在後方的排列方式,讓後方車輛因空氣阻力降低進而降低能量消耗。然而,這樣的車輛調度系統僅可讓後方車輛之能量耗損改善,對於在前方的大台車之能量耗損並沒有改善。以小車排列在大車後方的排列方式會讓後方小車之前方行車視線被大車所完全遮住,再加上車隊行駛係以縮減車輛之間的間距來達到降低能量的耗損,若大車或其前方忽然發生事故,會讓後方之小車無法有足夠的反應時間進行危險排除。 There is another vehicle scheduling system on the market, which uses the vehicle-to-vehicle communication technology in the Internet of Vehicles to organize the fleet so that the fleet can be arranged according to the size of the vehicle. Through the arrangement of large cars in the front and small cars in the rear, the air resistance of the rear vehicles is reduced and energy consumption is reduced. However, such a vehicle dispatching system can only improve the energy consumption of the rear vehicles, and does not improve the energy consumption of the large vehicles in front. Arranging the small cars behind the big cars will make the front of the rear cars completely obscured by the big cars, plus the fleet driving system to reduce the distance between the vehicles to reduce energy consumption, if large Sudden accidents in or in front of the car will prevent the car behind it from having enough reaction time to eliminate the danger.
有鑑於此,本發明揭露一種自駕車車隊平均能量消耗的駕駛系統及其方法,用以平均車隊中各車隊車的能量消耗。本發明自駕車平均能量消耗的駕駛系統係應用於具有複數個車隊車之車隊。駕駛系統包含車況偵測單元、控制單元以及主從輪調單元。此車況偵測單元係設置於至少一輛車隊車中,用以偵測車隊之當前所在位置、當前車輛狀況及目的地並產生車況資訊。控制單元係與車況偵測單元連接,用以接收車況資訊以產生輪調規劃資訊。輪調規劃資訊包括輪調時程和主從分配訊號。主從輪調單元係與控制單元連接。主從輪調單元係根據主從分配訊號將複數輛車隊車進行主從分配,進而將複數輛車隊車分配成一輛主車隊車及至少一輛從車隊車。主從輪調單元根據具有輪調時間及輪調順序的輪調時程訊號,讓各輛車隊車依照所對應的輪調時程進行排列順序上的輪調。 In view of this, the present invention discloses a driving system and method for averaging energy consumption of a self-driving vehicle fleet, which is used to average the energy consumption of vehicles in the fleet. The driving system for the average energy consumption of self-driving cars of the present invention is applied to a fleet of vehicles with multiple fleets. The driving system includes a vehicle condition detection unit, a control unit, and a master-slave wheel adjustment unit. The vehicle condition detection unit is installed in at least one vehicle fleet to detect the current location, current vehicle condition and destination of the vehicle fleet and generate vehicle condition information. The control unit is connected with the vehicle condition detection unit to receive vehicle condition information to generate wheel schedule information. Rotation planning information includes rotation schedule and master-slave allocation signal. The master-slave rotation unit is connected with the control unit. The master-slave rotation unit allocates a plurality of fleet vehicles to a master-slave vehicle based on the master-slave allocation signal, and then allocates the plurality of fleet vehicles into a master fleet vehicle and at least one slave fleet vehicle. The master-slave rotation unit, according to the rotation schedule signal with the rotation time and the rotation sequence, allows the vehicles in the fleet to perform the rotation in the arrangement sequence according to the corresponding rotation schedule.
進一步地,本發明自駕車平均能量消耗的駕駛方法,應用於具有複數輛車隊車之車隊。此駕駛方法包含以下步驟:接收複數輛車隊車 之具有當前所在位置、當前車輛狀況及目的地之車況資訊;根據此車況資訊產生輪調規劃資訊;根據輪調規劃資訊將複數輛車隊車進行主從分配,並讓各輛車隊車依照輪調規劃資訊中所對應的輪調時程進行排列順序上的輪調。 Further, the driving method of the average energy consumption of a self-driving car of the present invention is applied to a vehicle fleet with a plurality of vehicles. This driving method includes the following steps: Receive multiple vehicles Vehicle status information with current location, current vehicle status and destination; generate rotation planning information based on this vehicle status information; according to the rotation planning information, multiple fleet vehicles are assigned master-slave, and each fleet vehicle is rotated according to the The corresponding rotation schedule in the planning information is rotated in the arrangement sequence.
相較於習知技術,本發明之自駕車平均能量消耗的駕駛系統及其方法具有以下優點:1.以車聯網組成車隊。車隊係以串連的方式行駛,得以以最佳化的使用道路面積,進而可縮短車隊車間之間距以降低風阻所造成的能量損耗;2.藉由輪調的機制,讓各輛車隊車適時且適當的輪調到第一台,進而平均每一輛車隊車的能量消耗;3.車隊中各車隊車的能量消耗會比各別車輛自行進行能量節約具有更有效的節約;4.避免僅由大型車輛在前方的行駛方法所帶來的能量消耗不均及駕駛環境危險的情事;5.若車隊中有油量或能量偏低的車隊車,亦可藉由輪調的機制,協助此車延長它的行駛里程以順利達到目的地。 Compared with the prior art, the driving system and method for the average energy consumption of self-driving cars of the present invention have the following advantages: 1. The vehicle fleet is formed by the Internet of Vehicles. The fleet is driven in series to optimize the use of the road area, which can shorten the distance between the fleet and reduce the energy loss caused by wind resistance; 2. Through the rotation mechanism, let the fleets of vehicles be timely And the appropriate rotation to the first one, and then average the energy consumption of each fleet car; 3. The energy consumption of each fleet car in the fleet will be more effective than the energy saving of individual vehicles; 4. Avoid only Uneven energy consumption and dangerous driving environment caused by the driving method of large vehicles in front; 5. If there are vehicles in the fleet with low fuel or energy, the rotation mechanism can also be used to assist this The car extended its mileage to reach its destination smoothly.
11‧‧‧車隊 11‧‧‧Caravan
12‧‧‧車隊車 12‧‧‧Convoy car
13‧‧‧主車隊車 13‧‧‧Main convoy car
14‧‧‧從車隊車 14‧‧‧From the fleet car
15‧‧‧待加入車 15‧‧‧To be added to the car
2‧‧‧駕駛系統 2‧‧‧Driving system
21‧‧‧車況偵測單元 21‧‧‧Car Condition Detection Unit
22‧‧‧控制單元 22‧‧‧Control Unit
23‧‧‧通訊單元 23‧‧‧Communication Unit
24‧‧‧主從輪調單元 24‧‧‧Master-slave rotation unit
25‧‧‧組織車隊單元 25‧‧‧Organizing fleet unit
26‧‧‧環境偵測單元 26‧‧‧Environmental Detection Unit
S111-S233‧‧‧步驟 S111-S233‧‧‧Step
圖1為本發明自駕車平均能量消耗的駕駛系統之一具體實施例之方塊圖。 FIG. 1 is a block diagram of a specific embodiment of a driving system for average energy consumption of a self-driving car according to the present invention.
圖2為本發明自駕車平均能量消耗的駕駛系統之一具體實施例之輪調示意圖。 Fig. 2 is a schematic diagram of a specific embodiment of a driving system for driving average energy consumption of a self-driving car according to the present invention.
圖3為本發明自駕車平均能量消耗的駕駛系統之一具體實施例之示意圖。 Fig. 3 is a schematic diagram of a specific embodiment of a driving system for average energy consumption of a self-driving car according to the present invention.
圖4為本發明自駕車平均能量消耗的駕駛方法之一具體實施例之流程圖。 Fig. 4 is a flow chart of a specific embodiment of a driving method with average energy consumption of a self-driving car according to the present invention.
圖5為本發明自駕車平均能量消耗的駕駛方法之一具體實施例之流程圖。 Fig. 5 is a flowchart of a specific embodiment of a driving method of average energy consumption of a self-driving car according to the present invention.
圖6為本發明自駕車平均能量消耗的駕駛方法之一具體實施例之流程圖。 Fig. 6 is a flowchart of a specific embodiment of a driving method of average energy consumption of a self-driving car according to the present invention.
圖7為本發明自駕車平均能量消耗的駕駛方法之一具體實施例之流程圖。 FIG. 7 is a flowchart of a specific embodiment of a driving method of average energy consumption of a self-driving car according to the present invention.
圖8為本發明自駕車平均能量消耗的駕駛方法之一具體實施例之流程圖。 Fig. 8 is a flowchart of a specific embodiment of a driving method of average energy consumption of a self-driving car according to the present invention.
圖9為本發明自駕車平均能量消耗的駕駛方法之一具體實施例之流程圖。 Fig. 9 is a flowchart of a specific embodiment of a driving method of average energy consumption of a self-driving car according to the present invention.
為了讓本發明的優點,精神與特徵可以更容易且明確地了解,後續將以實施例並參照所附圖式進行詳述與討論。值得注意的是,這些實施例僅為本發明代表性的實施例,其中所舉例的特定方法、裝置、條件等並非用以限定本發明或對應的實施例。 In order to make the advantages, spirit and features of the present invention easier and clearer to understand, the following embodiments will be used for detailed and discussion with reference to the accompanying drawings. It should be noted that these embodiments are only representative embodiments of the present invention, and the specific methods, devices, conditions, etc. exemplified therein are not intended to limit the present invention or the corresponding embodiments.
請參閱圖1至圖3。圖1為本發明自駕車平均能量消耗的駕駛系統2之一具體實施例方塊圖、圖2為本發明自駕車平均能量消耗的駕駛系統2之一具體實施例之輪調示意圖、圖3為本發明自駕車平均能量消耗的駕駛系統2之一具體實施例之示意圖。於一具體實施例中,本發明之駕駛系統2係應用於具有複數個車隊車12之車隊11。駕駛系統2包含車況偵測單元21、控制單元22、通訊單元23以及主從輪調單元24。此車況偵測單元21係設置於至少一車隊車12中,用以偵測車隊11之當前所在位置、當前各車隊車12之車輛狀況及複數個車隊車12的目的地以產生車況資訊。控制單元22係與車況偵測單元21連接,用以接收車況資訊以產生輪調規劃資訊。輪調規劃資訊包括輪調時程和主從分配訊號。通訊單元23係與控制單元22連接,用以接收並發送控制單元22所產生的輪調規劃資訊至各車隊車12。主從輪調單元24係與控制單元22連接。主從輪調單元24係根據主從分配訊號將複數輛車隊車12進行主從分配,進而將複數輛車隊車12分配成一輛主車隊車13及至少一輛從車隊車14。主從輪調單元24根據具有輪調時間及輪調
順序的輪調時程訊號,讓各輛車隊車12依照所對應的輪調時程進行排列順序上的輪調。於另一實施例中,通訊單元23可與主從輪調單元24連接,主從輪調單元24係根據通訊單元23所接收到的輪調規劃資訊執行主從分配及輪調。
Please refer to Figure 1 to Figure 3. Fig. 1 is a block diagram of a specific embodiment of a driving system 2 with average energy consumption of a self-driving car according to the present invention; Fig. 2 is a schematic diagram of a rotation adjustment of a specific embodiment of a driving system 2 with average energy consumption of a self-driving car according to the present invention; A schematic diagram of a specific embodiment of the driving system 2 for inventing the average energy consumption of a self-driving car. In a specific embodiment, the driving system 2 of the present invention is applied to a
其中,上述之自駕車平均能量消耗的駕駛系統2之輪調規劃資訊由主車隊車13的控制單元22所產生,經由主車隊車13的通訊單元23接收並發送至各車隊車12的通訊單元23,以通知各車隊車12之控制單元22開始進行輪調。
Among them, the above-mentioned rotation planning information of the driving system 2 for the average energy consumption of self-driving cars is generated by the
請再次參閱圖2,於一具體實施例中,一開始車隊11係以一輛主車隊車13在前,且至少一輛從車隊車14在後之順序進行排列。當車輛開始進行輪調時,位於第一輛的主車隊車13變換車道至隔壁車道。組織車隊單元25讓主車隊車13成為從車隊車14,並由車道中當前第一輛車隊車12成為新的主車隊車13。接著,等待後方各輛從車隊車14通過。當後方最後一輛從車隊車14前行至超過在隔壁車道的從車隊車14的位置時,從車隊車14變換車道至車隊11當前位於的車道並追隨最後一輛從車隊車14。
Please refer to FIG. 2 again. In a specific embodiment, at the beginning, the
請複參閱圖1至圖3,於一具體實施例中,本發明之駕駛系統2更包含有組織車隊單元25及環境偵測單元26。組織車隊單元25係與控制單元22連接,用以產生申請組織資訊或脫離組織資訊。而環境偵測單元26亦與控制單元連接,用以偵測當前四周之行車狀況,並產生環境資訊。除了車隊車12所組成的車隊11外,對於欲加入此車隊11之待加入車15或欲脫離此車隊11之車隊車12亦可藉由此駕駛系統2進行運作。其中待加入車15具有組織車隊單元25、車況偵測單元21及環境偵測單元26。當車隊11之控制單
元22接收到待加入車15所產生之申請組織單元後,車隊11中的控制單元22根據待加入車15當前自身車輛之車況資訊和環境資訊產生同意組織資訊或拒絕組織資訊。待加入車15可根據所接收到的同意組織資訊加入該車隊11中。而待加入車15接收到同意組織資訊並加入車隊11進而成為車隊11之其中一車隊車12後,駕駛系統2根據車隊11當前之車況資訊產生了新的輪調規劃資訊。
Please refer to FIGS. 1 to 3 again. In a specific embodiment, the driving system 2 of the present invention further includes an organized
其中,車隊11之控制單元22所產生的同意組織資訊或拒絕組織資訊係根據以下要素之一或任二以上之組合進行判斷:1.待加入車15之當前車況是否讓當前車隊11之能量消耗增加;2.待加入車15之當前環境是否不易加入車隊11,如:待加入車15當前四周都有其他車輛,造成不易進入車隊11;3.待加入車15加入後是否會使車隊11之車速下降;4.車隊11最終之目的地是否快抵達;5.待加入車15之目的地是否快抵達;6.待加入車15之車型是否符合當前車隊11之需求。
Among them, the approval organization information or rejection organization information generated by the
承前,當有一輛車隊車12產生脫離組織資訊後,此車隊車12之控制單元22根據車隊11當前之環境資訊來提供適當的脫離時機,進而讓此車隊車12脫離所在的車隊11。而當車隊11之控制單元22接收到脫離組織資訊後,車隊11之控制單元22在此車隊車12脫離車隊11後根據排除此脫離的車隊車12之車隊11當前的車況資訊產生新的輪調規劃資訊。
In the past, when a fleet car 12 generates departure organization information, the
前述之輪調規劃資訊係以下列之一或任二以上之方法進行規劃輪調時間及輪調順序:1.將目前位置至車隊11中車隊車12所具有之最遠目的地間的距離平均分配給各車隊車12。於一實施例中,一開始的輪調及排列順序係以目的地由近至遠排序,距離最近的排第一輛,而距離最遠
的排最後一輛;2.依當前車隊11中各車隊車12之車輛狀況進行分配。車輛狀況較差的排列至最後,且輪調順序亦為最後一輛或甚至不需加入輪調,由其他車隊車12平均分擔擔任主車隊車13的里程。3.依目的地的不同,除了依目的地的遠近進行輪調及排列順序外,並由最近距離之車隊車12在大於未加入車隊11前之能量消耗的條件下擔當主要里程的主車隊車13。
The aforementioned rotation planning information is based on one or more of the following methods to plan the rotation time and rotation sequence: 1. Average the distance between the current position and the farthest destination of the vehicle 12 in the
於一具體實施例中,車隊11之組織車隊單元25更用以產生邀請組織資訊。當車隊11的駕駛系統2發出邀請組織資訊後,待加入車15即可接收邀請組織資訊,並產生上述的申請組織資訊。如此一來,即可由車隊11主動擴編,以更有效率地降低能量的消耗。
In a specific embodiment, the
於一具體實施例中,本發明自駕車平均能量消耗的駕駛系統之車況偵測單元包含用以監控車輛運行狀態和回報異常的車上診斷系統(On-Board Diagnostics,OBD)、用以進行車輛定位的全球定位系統(Global Positioning System,GPS)和以目的地進行路徑規劃的導航系統中之至少一者。控制單元、主從輪調單元及組織車隊單元分別或共同包含用以進行資訊接收及運算的電腦處理器、用以進行車與車之間的通訊之專用短程通訊(Dedicated Short-Range Communications,DSRC)、用以分析用路條件之車載通訊系統與嵌入式系統、用以進行自動駕駛之操駕系統中之至少一者。環境偵測系統包含用以偵測車內外環境之先進駕駛輔助系統(Advanced Driver Assistance System,ADAS)。先進駕駛輔助系統包含了不同類型的車用感測器,如:毫米波雷達、超聲波雷達、紅外線雷達、雷射雷達、CCD\CMOS影像感測器及輪速感測器,以及電子控制單元和執行器。 In a specific embodiment, the vehicle condition detection unit of the driving system for the average energy consumption of a self-driving car of the present invention includes an On-Board Diagnostics (OBD) system for monitoring the operating status of the vehicle and reporting abnormalities. At least one of a global positioning system (Global Positioning System, GPS) for positioning and a navigation system for route planning based on a destination. The control unit, the master-slave rotation unit and the organization fleet unit separately or together include a computer processor for information reception and calculation, and dedicated short-range communications (Dedicated Short-Range Communications, DSRC) for vehicle-to-vehicle communication. ). At least one of an in-vehicle communication system and an embedded system for analyzing road conditions, and an operating system for automatic driving. The environment detection system includes the Advanced Driver Assistance System (ADAS) for detecting the environment inside and outside the car. The advanced driver assistance system includes different types of vehicle sensors, such as millimeter wave radar, ultrasonic radar, infrared radar, laser radar, CCD\CMOS image sensor and wheel speed sensor, as well as electronic control unit and Actuator.
請參閱圖4,圖4為本發明自駕車平均能量消耗的駕駛方法之
一具體實施例之流程圖。於一具體實施例中,本發明自駕車平均能量消耗的駕駛方法應用於具有複數個車隊車12的車隊11,其包含以下步驟:S21:接收複數輛車隊車12之具有當前所在位置、當前車輛狀況及目的地之車況資訊;S22:根據車況資訊產生輪調規劃資訊;以及S23:根據輪調規劃資訊將複數輛車隊車12進行主從分配,並讓各輛車隊車12依照輪調規劃資訊中所對應的輪調時程進行排列順序上的輪調;車隊11可持續的重複以上步驟或當有待加入車15加入車隊11或有欲脫離之車隊車12離開車隊11時再重新執行以上步驟。
Please refer to Figure 4, Figure 4 is a self-driving car driving method of the average energy consumption of the present invention
A flowchart of a specific embodiment. In a specific embodiment, the driving method of the average energy consumption of a self-driving car of the present invention is applied to a
請複參閱圖5及圖6,圖5為本發明自駕車平均能量消耗的駕駛方法之一具體實施例之流程圖,圖6為本發明自駕車平均能量消耗的駕駛方法之一具體實施例之流程圖。當有待加入車15欲加入此車隊11時,於步驟S21前,更包含以下步驟:S121:接收外來欲加入車隊11之待加入車15之申請組織資訊;S122:接收車隊11及待加入車15當前之車況資訊和環境資訊;以及S123:根據車況資訊和環境資訊中至少其一以產生同意組織資訊或拒絕組織資訊;而待加入車15欲加入車隊11時所執行的步驟:S124:產生申請組織資訊、車況資訊及環境資訊;S125:判斷是否接收到車隊11所產生的同意組織資訊;當待加入車15未接收到同意組織資訊,而接收到拒絕組織資訊時,回到步驟S124重新尋找其他車隊11;
當待加入車15接收到同意組織資訊時,則執行步驟S126 S126:加入車隊11,成為此車隊11之其中一輛車隊車12;待加入車15藉由上述步驟以加入車隊11,進而利用本發明之駕駛系統2及其方法達到平均能量的消耗。
Please refer to FIG. 5 and FIG. 6 again. FIG. 5 is a flowchart of a specific embodiment of a driving method with average energy consumption of a self-driving car according to the present invention, and FIG. 6 is a specific embodiment of a driving method with average energy consumption of a self-driving vehicle according to the present invention flow chart. When a waiting
請再次參閱圖5及圖7,圖7為本發明自駕車平均能量消耗的駕駛方法之一具體實施例之流程圖。於一具體實施例中,本發明之駕駛方法於步驟S121前更包含以下步驟:S111:車隊11產生邀請組織資訊;而待加入車15亦更包含以下步驟:S112:接收邀請組織資訊;當待加入車15未接收到同意組織資訊,而接收到拒絕組織資訊時,回到步驟S112重新接收其他車隊11的邀請組織資訊;當待加入車15接收到同意組織資訊時,則執行步驟S126。車隊11之擴編不但可以藉由待加入車15之主動加入,亦可由車隊11執行上述步驟達到主動擴編車隊11之車隊車12。當車隊11之車隊車12數量越多,平均能量消耗的效果就越好。
Please refer to FIG. 5 and FIG. 7 again. FIG. 7 is a flowchart of a specific embodiment of a driving method with average energy consumption of a self-driving car according to the present invention. In a specific embodiment, the driving method of the present invention further includes the following steps before step S121: S111: the
請參閱圖8及圖9,圖8為本發明自駕車平均能量消耗的駕駛方法之一具體實施例之流程圖,圖9為本發明自駕車平均能量消耗的駕駛方法之一具體實施例之流程圖。由於車隊11中每一車隊車12的目的地可能不同,因此當有車隊車12到達所需目的地時則需脫離所在的車隊11。於一具體實施例中,於步驟S21前,更包含以下步驟:S131:接收車隊11中任一車隊車12之脫離組織資訊;以及
S132:產生具有當前車隊11四周之行車狀況之環境資訊;而產生脫離組織資訊之車隊車12將執行以下步驟:S133:產生脫離組織資訊;S134:接收具有當前車隊11四周之行車狀況之環境資訊;以及S135:脫離車隊11;其中,當車隊車12產生脫離組織資訊後,此車隊車12將根據所接收的環境資訊來脫離車隊11,或是進一步的離開目前所在的車道位置。換句話說,欲脫離車隊11之車隊車12會根據所接收具有當前車隊11四周之行車狀況之環境資訊,確認何時適合變換車道。而駕駛方法則在此車隊車12脫離後根據排除脫離的車隊車12後的車隊11執行後續步驟S21。
Please refer to FIGS. 8 and 9. FIG. 8 is a flowchart of a specific embodiment of a driving method with average energy consumption of a self-driving car according to the present invention, and FIG. 9 is a flowchart of a specific embodiment of a driving method with average energy consumption of a self-driving car according to the present invention Figure. Since the destination of each fleet car 12 in the
請複參閱圖4,於一具體實施例中,在步驟S23中,更包含以下子步驟:S231:接收輪調規劃資訊;S232:根據輪調規劃資訊中之主從分配訊息進行複數輛車隊車12的主從分配;以及S233:根據輪調規劃資訊中之輪調時程訊號讓各輛車隊車12依照所對應的輪調時程進行排列順序上的輪調;利用以上步驟,並搭配如圖2所述之輪調方式即可完成輪調。其中於每次輪調時,欲變換車道之車隊車12都會先確認自身四周之行車狀況。在安全的行車狀況下,此車隊車12完成車道之變換。 Please refer to FIG. 4 again. In a specific embodiment, step S23 further includes the following sub-steps: S231: receiving rotation planning information; S232: performing a plurality of fleet vehicles according to the master-slave allocation information in the rotation planning information 12 master-slave allocation; and S233: According to the rotation schedule signal in the rotation planning information, let each fleet car 12 perform the rotation in the arrangement sequence according to the corresponding rotation schedule; use the above steps, and match as The rotation method described in Figure 2 can complete the rotation. In each rotation, the fleet car 12 that wants to change lanes will first confirm the driving conditions around itself. Under safe driving conditions, the fleet of vehicles 12 completes the lane change.
於一具體實施例中,當車隊11位於四周行車狀況不佳的情形下,如:塞車、欲變換之車道目前沒有空間進行變換時,當次輪調時程將
會延長至行車狀況較佳時以進行輪調。而後續之輪調時程將會做對應之調整或維持原輪調時程。
In a specific embodiment, when the
於一具體實施例中,當車隊11長時間有一輛車跟在後方且嚴重妨礙輪調之進行時,本發明之駕駛系統2將邀請此車輛加入至車隊11中,藉此讓本發明駕駛方法可順利進行。
In a specific embodiment, when there is a car behind the
於一具體實施例中,當車隊11在進行輪調期間發生了突然的行車狀況變化而導致已變換車道之車隊車12無***調至車隊11後方,本發明之駕駛系統2將強制讓此車隊車12脫離車隊11。藉此讓駕駛方法順利進行。
In a specific embodiment, when the
相較於習知技術,本發明之自駕車平均能量消耗的駕駛系統2及其方法係由自動駕駛車利用車聯網組成車隊11,並以串聯行駛的方式進行車輛輪調。以串聯行駛係為以最佳化的方式使用道路面積。此駕駛系統2利用車輛的輪調,適時且適當的讓各輛車隊車12輪調到第一台,進而平均每一輛車隊車12的能量消耗。本發明亦改善了習知技術以單一車輛自行進行能量節約之極限,亦避免僅由大型車輛在前方行駛所帶來的能量耗損不均及駕駛環境危險的情事。本發明之駕駛系統2亦能協助車況較不好的車隊車12順利到達目的地。
Compared with the prior art, the driving system 2 and its method for the average energy consumption of self-driving cars of the present invention are composed of self-driving cars using the Internet of Vehicles to form a
藉由以上具體實施例之詳述,係希望能更加清楚描述本發明之特徵與精神,而並非以上述所揭露的具體實施例來對本發明之範疇加以限制。相反地,其目的是希望能涵蓋各種改變及具相等性的安排於本發明所欲申請之專利範圍的範疇內。 Through the detailed description of the above specific embodiments, it is hoped that the characteristics and spirit of the present invention can be described more clearly, rather than limiting the scope of the present invention by the specific embodiments disclosed above. On the contrary, the purpose is to cover various changes and equivalent arrangements within the scope of the patent scope of the present invention.
2‧‧‧駕駛系統 2‧‧‧Driving system
21‧‧‧車況偵測單元 21‧‧‧Car Condition Detection Unit
22‧‧‧控制單元 22‧‧‧Control Unit
23‧‧‧通訊單元 23‧‧‧Communication Unit
24‧‧‧主從輪調單元 24‧‧‧Master-slave rotation unit
25‧‧‧組織車隊單元 25‧‧‧Organizing fleet unit
26‧‧‧環境偵測單元 26‧‧‧Environmental Detection Unit
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CN108845570A (en) * | 2018-05-11 | 2018-11-20 | 重庆长安汽车股份有限公司 | Platooning's control method based on chain structure |
CN108873866A (en) * | 2018-07-12 | 2018-11-23 | 济南浪潮高新科技投资发展有限公司 | A kind of transport column oil consumption monitoring method based on OBD equipment |
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2018
- 2018-12-06 CN CN201811487144.9A patent/CN109597414B/en active Active
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2019
- 2019-02-14 TW TW108104924A patent/TWI704521B/en active
Also Published As
Publication number | Publication date |
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TWI704521B (en) | 2020-09-11 |
CN109597414B (en) | 2022-03-18 |
CN109597414A (en) | 2019-04-09 |
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