WO2017084601A1

WO2017084601A1 - Control method, device and system for vehicles in internet of vehicles and vehicle

Info

Publication number: WO2017084601A1
Application number: PCT/CN2016/106246
Authority: WO
Inventors: 骆磊
Original assignee: 深圳前海达闼云端智能科技有限公司
Priority date: 2015-11-19
Filing date: 2016-11-17
Publication date: 2017-05-26
Also published as: CN105355087A

Abstract

Disclosed are a control method, device and system for vehicles in Internet of Vehicles and a vehicle. The method comprises: acquiring the current speed v₁ of a first vehicle, the current maximum braking capability a₁ of the first vehicle, the current speed v₂ of a second vehicle and the current maximum braking capability a₂ of the second vehicle (S101), wherein the first vehicle is the vehicle closest to the second vehicle in front of the second vehicle; determining a current minimum safe distance S _safe between the second vehicle and the first vehicle according to v₁, a₁, v₂ and a₂ (S102); and controlling the second vehicle according to the current distance S _current and S _safe between the first vehicle and the second vehicle (S103).

Description

一种车联网中车辆的控制方法、装置、***及车辆Vehicle control method, device, system and vehicle in vehicle networking

技术领域Technical field

本申请涉及物联网通信技术，尤其涉及车联网中车辆的控制方法、装置、***及车辆。The present application relates to an Internet of Things communication technology, and more particularly to a method, device, system and vehicle for controlling a vehicle in a vehicle network.

背景技术Background technique

现有的车联网中，已经出现较多的车辆控制方法，例如，控制车辆自动加速、自动选择车道；或者根据司机反应时间和本车当前车速，保证与前后车的安全间距来防止追尾等。In the existing Internet of Vehicles, more vehicle control methods have appeared, for example, controlling the vehicle to automatically accelerate and automatically select the lane; or according to the driver's reaction time and the current vehicle speed of the vehicle, ensuring a safe separation from the front and rear vehicles to prevent rear-end collision.

其中一种现有技术中的车辆控制方法是基于本车与前车的距离计算得到前车行驶的速度或加速度，并根据该速度或加速度确定前后车的安全间距，然后控制本车的速度以使本车和前车保持在该安全间距。One of the prior art vehicle control methods calculates the speed or acceleration of the preceding vehicle based on the distance between the vehicle and the preceding vehicle, and determines the safety distance between the front and rear vehicles according to the speed or acceleration, and then controls the speed of the vehicle. Keep the car and the front car at this safe distance.

采用现有技术中的车辆控制方案，由于两车之间的距离在不断变化，因此计算得到的速度或加速度也是不准确并非实时的，因此，基于此而进行的对车辆的控制也不够精确。With the prior art vehicle control scheme, since the distance between the two vehicles is constantly changing, the calculated speed or acceleration is also inaccurate and not real-time, and therefore, the control of the vehicle based on this is not accurate enough.

发明内容Summary of the invention

本申请实施例中提供了一种车联网中车辆的控制方法、装置、***及车辆，用于解决现有技术中的车辆控制不够精确的问题。The embodiment of the present application provides a method, a device, a system, and a vehicle for controlling a vehicle in a vehicle network, which are used to solve the problem that the vehicle control in the prior art is not accurate enough.

根据本申请实施例中的第一个方面，提供了一种车联网中车辆的控制方法，包括：获取第一车辆的当前速度v₁、第一车辆的当前最大刹车能力a₁、和第二车辆的当前速度v₂、第二车辆的当前最大刹车能力a₂；其中，第一车辆为第二车辆前方距离第二车辆最近的车辆；根据v₁、a₁、v₂、a₂确定第二车辆与第一车辆的当前最小安全距离S_安全；根据第一车辆与第二车辆的当前距离S_当前和S_安全对第二车辆进行控制。According to a first aspect of the embodiments of the present application, a method for controlling a vehicle in a vehicle network is provided, comprising: acquiring a current speed v ₁ of the first vehicle, a current maximum braking capability a _{1 of the} first vehicle, and a second The current speed v ₂ of the vehicle, the current maximum braking capacity a ₂ of the second vehicle; wherein the first vehicle is the vehicle closest to the second vehicle in front of the second vehicle; determining according to v ₁ , a ₁ , v ₂ , a ₂ current minimum safety distance S _security second vehicle to the first vehicle; second vehicle control _safety distance S S based on the current and _{the current} first vehicle and the second vehicle.

根据本申请实施例的第二个方面，提供了一种车联网中车辆的控制装置，包括：获取模块，用于获取第一车辆的当前速度v₁、该第一车辆的当前最大刹车能力a₁、和该第二车辆的当前速度v₂、第二车辆的当前最大刹车能力a₂；其中，第一车辆为第二车辆前方距离第二车辆最近的车辆；最小安全距离确定模块，用于根据该v₁、a₁、v₂、a₂确定该第二车辆与该第一车辆的当前最小安全距离S_安全；控制模块，用于根据该第一车辆与该第二车辆的当前距离S_当前和该S_安全对该第二车辆进行控制。According to a second aspect of the embodiments of the present application, a control device for a vehicle in a vehicle network is provided, including: an acquisition module, configured to acquire a current speed v ₁ of the first vehicle, and a current maximum braking capability of the first vehicle. ₁ , and a current speed v ₂ of the second vehicle, a current maximum braking capability a ₂ of the second vehicle; wherein the first vehicle is a vehicle that is closest to the second vehicle in front of the second vehicle; a minimum safety distance determining module is configured to: according to the _{_{_{v 1, a 1, v 2}}} , a 2 determines that the second vehicle to the first vehicle _safety current minimum safety distance S; control module for the current from the first vehicle and the second vehicle S _{The current} vehicle and the S _safety control the second vehicle.

根据本申请实施例的第三个方面，提供了一种车辆控制设备，包括：收发单元，用于数据收发；存储介质，用于存放程序；处理器，用于依照存储介质的程序执行车联网中车辆的控制方法。。According to a third aspect of the embodiments of the present application, a vehicle control device includes: a transceiver unit for data transceiving; a storage medium for storing a program; and a processor for executing a car network according to a program of the storage medium The control method of the vehicle. .

根据本申请实施例的第四个方面，提供了一种车辆，包括：如本申请实施例的第三个方面所述的车辆控制设备。According to a fourth aspect of the embodiments of the present application, there is provided a vehicle comprising: the vehicle control apparatus according to the third aspect of the embodiment of the present application.

本申请实施例中提供的车联网中车辆的控制方案，能够获取第一车辆和第二车辆的速度、第一车辆和第二车辆的当前情况最大刹车能力；然后根据这些信息确定前后车之间的最小安全距离，并基于该最小安全距离对车辆进行控制，由于考虑了车辆的当前最大刹车能力，能够提升对车辆控制的精确度。The control scheme of the vehicle in the vehicle network provided in the embodiment of the present application is capable of acquiring the speeds of the first vehicle and the second vehicle, the maximum braking capability of the first vehicle and the second vehicle, and then determining the between the front and the rear according to the information. The minimum safe distance and control of the vehicle based on the minimum safe distance can improve the accuracy of vehicle control due to the current maximum braking capacity of the vehicle.

附图说明DRAWINGS

此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中： The drawings described herein are intended to provide a further understanding of the present application, and are intended to be a part of this application. In the drawing:

图1为本申请实施例一所示的车联网中车辆的控制方法的流程图；1 is a flowchart of a method for controlling a vehicle in a vehicle network according to Embodiment 1 of the present application;

图2为本申请实施例二所示车联网中车辆的控制装置的结构示意图；2 is a schematic structural diagram of a control device for a vehicle in a vehicle network according to Embodiment 2 of the present application;

图3为本申请实施例三所示车联网中车辆的控制***的结构示意图；3 is a schematic structural diagram of a control system of a vehicle in a vehicle network according to Embodiment 3 of the present application;

图4为本申请实施例四所示车辆的结构示意图。4 is a schematic structural view of a vehicle according to Embodiment 4 of the present application.

具体实施方式detailed description

为了使本申请实施例中的技术方案及优点更加清楚明白，以下结合附图对本申请的示例性实施例进行进一步详细的说明，显然，所描述的实施例仅是本申请的一部分实施例，而不是所有实施例的穷举。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。The exemplary embodiments of the present application are further described in detail below with reference to the accompanying drawings. Not all embodiments are exhaustive. It should be noted that the embodiments in the present application and the features in the embodiments may be combined with each other without conflict.

在实现本申请的过程中，申请人发现，现有技术中为维持安全车距，在获取前车行驶的速度或加速度时，通常采用的是基于本车与前车的距离计算得到前车行驶的速度或加速度，并根据该速度或加速度确定前后车的安全间距，然后控制本车的速度以使本车和前车保持在该安全间距。In the process of implementing the present application, the applicant finds that in the prior art, in order to maintain the safe distance, when acquiring the speed or acceleration of the preceding vehicle, the driving distance of the vehicle is calculated based on the distance between the vehicle and the preceding vehicle. The speed or acceleration, and the safety distance between the front and rear vehicles is determined according to the speed or acceleration, and then the speed of the vehicle is controlled to maintain the safe distance between the vehicle and the preceding vehicle.

申请人认为，根据本车与前车的距离计算得到的前车的速度或加速度，由于两车之间的距离在不断变化，因此计算得到的速度或加速度也是不准确并非实时的，因此，基于此而进行的对车辆的控制也不够精确。Applicant believes that the speed or acceleration of the preceding vehicle calculated from the distance between the vehicle and the preceding vehicle, because the distance between the two vehicles is constantly changing, the calculated speed or acceleration is also inaccurate and not real-time, therefore, based on The control of the vehicle is not accurate enough.

另外，两车之间的安全距离受多种因素影响，目前采用的车辆控制方案在确定安全距离时，仅考虑两车之间的距离、以及两车的速度和加速度，而未考虑两车的当前最大刹车能力，因此也不够准确。In addition, the safety distance between the two vehicles is affected by many factors. The current vehicle control scheme only considers the distance between the two vehicles and the speed and acceleration of the two vehicles when determining the safety distance, but does not consider the two vehicles. The current maximum braking capacity is therefore not accurate enough.

针对上述问题，本申请实施例中提供了一种车联网中车辆的控制方案，能够获得第一车辆和第二车辆的速度、第一车辆和第二车辆的当前情况最大刹车能力；然后根据这些信息确定前后车之间的最小安全距离，并基于该最小安全距离对车辆进行控制，以提升对车辆控制的精确度，并尽量将两车间距保持在最小安全距离，能够提升路面容量，提升道路通行效率。In response to the above problems, a control scheme for a vehicle in a vehicle network is provided in the embodiment of the present application, and the speeds of the first vehicle and the second vehicle, the current situation of the first vehicle and the second vehicle, and the maximum braking capability can be obtained; The information determines the minimum safety distance between the front and rear vehicles, and controls the vehicle based on the minimum safety distance to improve the accuracy of the vehicle control, and keep the distance between the two vehicles at the minimum safe distance, thereby improving the road capacity and improving the road. Pass efficiency.

本申请实施例中的方案能够应用于车联网中车辆的车载自动化驾驶***；也可以应用于车联网的控制设备中。 The solution in the embodiment of the present application can be applied to an on-board automated driving system of a vehicle in a vehicle network; and can also be applied to a control device of a vehicle network.

本申请实施例中的方案在应用于车载的自动化驾驶***时，第二车辆可以为本车，第一车辆可以为本车前面的第一辆车；在本申请实施例中的方案应用于控制设备中时，第一车辆和第二车辆可以为前后相临的两辆车，第一车辆可以为在前的车辆，第二车辆可以为在后的车辆。When the solution in the embodiment of the present application is applied to an automated driving system of a vehicle, the second vehicle may be the first vehicle, and the first vehicle may be the first vehicle in front of the vehicle; the solution in the embodiment of the present application is applied to the control. In the device, the first vehicle and the second vehicle may be two vehicles that are adjacent to each other, the first vehicle may be a preceding vehicle, and the second vehicle may be a preceding vehicle.

下面结合实施例对本申请的具体实施方式进行描述。The specific embodiments of the present application are described below in conjunction with the embodiments.

实施例一Embodiment 1

图1为本申请实施例一所示的车联网中车辆的控制方法的流程图。FIG. 1 is a flowchart of a method for controlling a vehicle in a vehicle network according to Embodiment 1 of the present application.

如图1所示，本申请实施例一所示的车联网中车辆的控制方法包括如下步骤：As shown in FIG. 1 , a method for controlling a vehicle in a vehicle network according to Embodiment 1 of the present application includes the following steps:

S101，获取第一车辆的当前速度v₁、第一车辆的当前最大刹车能力a₁、和第二车辆的当前速度v₂、第二车辆的当前最大刹车能力a₂；其中，第一车辆为第二车辆前方距离第二车辆最近的车辆；S101. Acquire a current speed v ₁ of the first vehicle, a current maximum braking capability a _{1 of the} first vehicle, and a current speed v ₂ of the second vehicle, and a current maximum braking capability a _{2 of the} second vehicle; wherein, the first vehicle is a vehicle that is closest to the second vehicle in front of the second vehicle;

S102，根据v₁、a₁、v₂、a₂确定第二车辆与第一车辆的当前最小安全距离S_安全；S102, determining, according to v ₁ , a ₁ , v ₂ , a ₂ , the current minimum safety distance S of the second vehicle and the first vehicle is _safe ;

S103，根据第一车辆与第二车辆的当前距离S_当前和S_安全对第二车辆进行控制。S103, control of the second vehicle _safety distance S S based on the current and _{the current} of the first vehicle and the second vehicle.

为便于描述，本申请实施例中也将第一车辆称为“前车”，也将第二车辆称为“后车”。本领域技术人员应当理解，前后仅为相对的概念，在针对不同的参照车辆时，某一车辆可以同时作为前车和后车。For convenience of description, the first vehicle is also referred to as "front vehicle" in the embodiment of the present application, and the second vehicle is also referred to as "rear vehicle". It will be understood by those skilled in the art that the front and rear are only relative concepts, and that a certain vehicle can serve as both the front and the rear when targeting different reference vehicles.

在S101的第一种具体方式中，可以以预定周期获取v₁、a₁、v₂、a₂，例如，第二车辆每隔3秒(或0.01秒等间隔)向前方预定范围内(如10米或100米等)发送一个参数获取请求，处于该范围内的第一车辆响应该请求，向第二车辆返回v₁、a₁，同时第二车辆检测v₂和a₂；或者，在各车辆上设定同步时钟，每隔预定时间，例如，3秒，各车辆均向预定范围，例如，前方和后方 10米范围内发送自身的当前速度和当前最大刹车能力；各车辆在接收到的数据中提取自己的前车发送的v₁、a₁。在具体实施时，为便于后车提取相应的信息，各车辆在发送自身的当前速度和当前最大刹车能力时，还可以进一步携带自身的标识，例如，车牌号等。In the first specific mode of S101, v ₁ , a ₁ , v ₂ , a ₂ may be acquired in a predetermined cycle, for example, the second vehicle is within a predetermined range forward every 3 seconds (or 0.01 second intervals) (eg, Sending a parameter acquisition request, the first vehicle within the range responds to the request, returns v ₁ , a ₁ to the second vehicle, and the second vehicle detects v ₂ and a ₂ ; or Each vehicle sets a synchronous clock, and every predetermined time, for example, 3 seconds, each vehicle transmits its current speed and current maximum braking capacity to a predetermined range, for example, 10 meters ahead and rear; each vehicle receives The data is extracted from v ₁ , a ₁ sent by the previous car. In the specific implementation, in order to facilitate the extraction of corresponding information by the rear car, each vehicle may further carry its own logo, for example, a license plate number, etc. when transmitting its current speed and current maximum braking capability.

例如：当预定的车辆发送自身当前速度和最大刹车能力的范围为100米内，为了帮助在后的车辆判断收到的信息对应的是哪一辆前车，在前车辆可以在时间同步信息中加入车辆的GPS精确位置信息，这样后车通过同步信息得到前车位置信息后结合地图以及自身位置信息，就能确定是哪个前车的数据；当然，也可以通过后车摄像头拍到前车车牌号，或广播时间同步信息中携带车牌信息等方式来获取前车信息，以区分对应的是哪一辆前车。For example, when the predetermined vehicle sends its own current speed and maximum braking capacity within 100 meters, in order to help the following vehicle to determine which of the preceding vehicles corresponds to the received information, the preceding vehicle may add in the time synchronization information. The GPS precise position information of the vehicle, so that the rear car obtains the front vehicle position information through the synchronization information and combines the map and the own position information to determine which of the preceding vehicle data; of course, the front vehicle license plate number can also be captured by the rear camera. Or, the vehicle time information is carried in the broadcast time synchronization information to obtain the preceding vehicle information to distinguish which of the preceding vehicles is corresponding.

在S101的第二种具体方式中，可以直接接收第一车辆发送的当前速度v₁和最大刹车能力a₁，并从第二车辆获取速度v₂和最大刹车能力a₂；也可以是第一车辆将v₁和a₁，第二车辆将v₂和发送至中间设备(例如，控制设备)，再由控制设备转发；本申请对此均不作限制。In the second specific mode of S101, the current speed v ₁ and the maximum braking capability a ₁ transmitted by the first vehicle may be directly received, and the speed v ₂ and the maximum braking capability a ₂ may be acquired from the second vehicle; or may be the first The vehicle will v ₁ and a ₁ , the second vehicle will send the v ₂ and the intermediate device (for example, the control device), and then forwarded by the control device; this application does not limit this.

在S101的第三种具体方式中，该第一车辆的当前最大刹车能力可以是根据第一车辆轮胎当前受到路面的摩擦力确定的；该第二车辆的当前最大刹车能力可以是根据第二车辆轮胎当前受到路面的摩擦力确定的。In a third specific mode of S101, the current maximum braking capability of the first vehicle may be determined according to the frictional force of the first vehicle tire currently being subjected to the road surface; the current maximum braking capability of the second vehicle may be according to the second vehicle The tire is currently determined by the friction of the road surface.

在具体实施时，当前最大刹车能力可以是指保持最大制动力下车辆获得并能保持的最大负向加速度。车辆可以根据当前负载，前后轮重量分配，以及当前路面情况和轮胎抓地力计算得到轮胎受到路面的摩擦力，然后再根据该摩擦力计算得到车辆在该摩擦力下车辆在最大制动力下，从预定速度(例如，100公里每秒)减速至0时保持的最大负向加速度。In the specific implementation, the current maximum braking capacity may refer to the maximum negative acceleration that the vehicle obtains and can maintain under the maximum braking force. The vehicle can calculate the frictional force of the tire on the road surface according to the current load, the weight distribution of the front and rear wheels, and the current road surface condition and the tire grip force, and then calculate the vehicle under the maximum braking force of the vehicle under the friction force according to the friction force. The maximum negative acceleration that is maintained when the predetermined speed (eg, 100 kilometers per second) is decelerated to zero.

在具体实施时，各车辆可以实时测量得到当前负载、前后轮重量分配和路面状况系数。轮胎抓地力可以根据车辆轮胎的性能确定，例如，可以根据车辆出厂设置时的轮胎抓地参数确定轮胎抓地力。通常来说，该当前最大刹车能力的绝对值与负载成反比，与路面摩擦力成正比，与前后轮重量分配与车辆设计理想值的差值绝对值成反比，与轮胎抓地力成正比。In the specific implementation, each vehicle can measure the current load, front and rear wheel weight distribution and road condition coefficient in real time. The tire grip can be determined based on the performance of the vehicle tire. For example, the tire grip can be determined based on the tire grip parameters when the vehicle is factory set. Generally speaking, the current maximum brake The absolute value of the vehicle's capacity is inversely proportional to the load, proportional to the friction of the road surface, inversely proportional to the absolute value of the difference between the weight distribution of the front and rear wheels and the ideal value of the vehicle design, and proportional to the tire grip.

在S102的第一种具体方式中，当前车的速度小于后车时，可以进一步获取后车的最低限速v_2最低，如果v_2最低≤v₁，则可以根据v₁、a₁、a₂确定前车与后车的当前最小安全距离S_安全。在具体实施时，车辆可以将本车的最低限速和最高限速信息与当前速度、当前最大刹车能力一起发送至后车，以便于后车根据这些信息进行相应的控制。In the first specific mode of S102, when the speed of the current vehicle is less than that of the following vehicle, the lowest speed limit v _{2 of the} following vehicle may be further obtained. If v _{2 is the lowest} ≤ v ₁ , then according to v ₁ , a ₁ , a ₂ Determine the current minimum safety distance S _{safety of the} front and rear vehicles. In the specific implementation, the vehicle can send the minimum speed limit and the maximum speed limit information of the vehicle together with the current speed and the current maximum braking capacity to the rear vehicle, so that the rear vehicle can perform corresponding control according to the information.

在具体实施时，如果v_2最低≤v₁，则表明可以将后车的减至与前车相同的速度，此时可以假设两车均以前车的速度行驶，并计算两车的最小安全距离。在具体实施时，如果v_2最低＞v₁，则说明后车的速度将一直高于前车，此时可以控制后车超车，或者调高前车的速度等，本申请对此不作限制。In the specific implementation, if v _{2 is the lowest} ≤ v ₁ , it means that the rear car can be reduced to the same speed as the preceding car. At this time, it can be assumed that both cars are driving at the speed of the previous car, and the minimum safety distance of the two cars is calculated. . In the specific implementation, if v _{2 is lower} >v ₁ , it means that the speed of the rear vehicle will always be higher than that of the preceding vehicle. At this time, it is possible to control the overtaking of the rear vehicle, or increase the speed of the preceding vehicle, etc., which is not limited in this application.

在具体实施时，车辆的最低限速和最高限速可以是由用户自行设定的，也可以是由控制设备设定的，本申请对此不作限制。In the specific implementation, the minimum speed limit and the maximum speed limit of the vehicle may be set by the user, or may be set by the control device, which is not limited in this application.

在具体实施时，当前车的速度大于后车时，后车将无法追赶上前车，可以不进行控制。In the specific implementation, when the current car speed is greater than the rear car, the rear car will not be able to catch up with the front car, and may not be controlled.

在S102的第二种具体方式中，当前车的速度等于后车时，可以根据v₁、a₁、a₂确定前车与后车的当前最小安全距离S_安全。In a second specific embodiment S102, the current vehicle speed is equal to the car, according to v _{_1,} a _1, a ₂ and determines the preceding vehicle following vehicle current minimum safety distance S _safety.

根据a₁、a₂的定义可知，a₁、a₂均为负数，在具体实施时，为便于理解，可以进一步根据a₁的绝对值|a₁|，和a₂的绝对值|a₂|的大小情况来确定不同的最小安全距离。According to a _1, a ₂ understood defined, a _1, a ₂ are negative, in the specific embodiment, for ease of understanding, according to a further _absolute value of the | a ₁ |, and the absolute value of a ₂ | ₂ a | Size case to determine different minimum safe distances.

在具体实施时，当|a₁|≥|a₂|时，即，前车的最大刹车能力大于等于后车的最大刹车能力时，可以令

其中，t₀和c为预设常数。具体地，可以根据第一车辆和第二车辆之间的通信时延来确定t₀，也可以根据经验值来设定t₀，例如，t₀可以为0.1s。具体地，c可以是两车速度减为0时，两车驾驶者能够接受的间隔距离，可以是设定的常数，任意大于等于0的常数，例如，1米。In the specific implementation, when |a ₁ |≥|a ₂ |, that is, when the maximum braking capacity of the preceding vehicle is greater than or equal to the maximum braking capacity of the rear vehicle,

Where t ₀ and c are preset constants. In particular, may be determined t _0, t ₀ may be set in accordance with empirical values, e.g., 0.1s t ₀ may be the communication delay between the first vehicle and the second vehicle. Specifically, c may be a separation distance that the driver of the two vehicles can accept when the speed of the two vehicles is reduced to 0, which may be a set constant, any constant greater than or equal to 0, for example, 1 meter.

在具体实施时，对该情况下的S_安全的推导过程可以如下：In the specific implementation, the derivation process of S _security in this case can be as follows:

假设最小安全距离为S_安全，通信时延为t₀，前车开始刹车的t₀时刻时两车间距为Ss，具体方法包括：Assume that the minimum safe distance is S _safety , the communication delay is t ₀ , and the distance between the two vehicles is Ss at the time t ₀ when the preceding vehicle starts to brake. The specific methods include:

则从前车开始刹车到t₀时刻:Then start braking from the front car to t ₀ :

前车行进距离

Front car travel distance

后车行进距离

Rear travel distance

而从t₀时刻到两车完全静止时刻，假设t₀时刻前车速度减为v_x：From the time t _{0 to the} moment when the two cars are completely still, it is assumed that the speed of the car before t ₀ is reduced to v _x :

前车行进距离

Front car travel distance

后车行进距离

Rear travel distance

按照最理想情况，两车都静止的情况下间距可以为0，紧挨在一起却没有碰撞，但考虑到驾驶者的感受，这个距离可以设定为常数c，c可设置为1m，2m等等任意一个常数，因此

According to the ideal situation, the distance between the two cars can be 0 when the two cars are stationary, but there is no collision when they are close together, but considering the driver's feeling, this distance can be set to a constant c, c can be set to 1m, 2m, etc. Wait for any constant, so

把上式合并，可得到：Combine the above formula to get:

在|a₁|≥|a₂|时，

When |a ₁ |≥|a ₂ |,

以上为后车最大刹车能力弱于前车时，为保证前车急刹车时两车不相撞的安全距离。The above is the safe distance for the rear car to be weaker than the front car, in order to ensure that the two cars do not collide when the front car is suddenly braked.

本领域技术人员应当理解，本申请实施例中示出的推导过程仅用于使本领域技术人员实施本申请，并不用于限制本申请；也应当理解，推导过程的示出，并不意味着本领域技术人员在不付出创造性劳动的基础上，只经过推导就能够得到本申请实施例提供的方案。 It should be understood by those skilled in the art that the derivation process shown in the embodiments of the present application is only used to enable the person skilled in the art to implement the present application, and is not intended to limit the present application. It should also be understood that the illustration of the derivation process does not mean that Those skilled in the art can obtain the solution provided by the embodiments of the present application only after deriving on the basis of no creative work.

在具体实施时，当|a₁|＜|a₂|时，即，前车的最大刹车能力小于后车的最大刹车能力时，可以令

其中，t₀和c为预设常数。In the specific implementation, when |a ₁ |<|a ₂ |, that is, the maximum braking capacity of the preceding vehicle is less than the maximum braking capacity of the rear vehicle,

Where t ₀ and c are preset constants.

具体地，可以根据第一车辆和第二车辆之间的通信时延来确定t₀，也可以根据经验值来设定t₀，例如，t₀可以为0.1s。具体地，c可以是两车速度减为0时，两车驾驶者能够接受的间隔距离，可以是设定的常数，任意大于等于0的常数，例如，1米。In particular, may be determined t _0, t ₀ may be set in accordance with empirical values, e.g., 0.1s t ₀ may be the communication delay between the first vehicle and the second vehicle. Specifically, c may be a separation distance that the driver of the two vehicles can accept when the speed of the two vehicles is reduced to 0, which may be a set constant, any constant greater than or equal to 0, for example, 1 meter.

前车行进距离

Front car travel distance

后车行进距离

Rear travel distance

而从t₀时刻到两车完全静止过程中，假设在t₁时刻两车速度相同，为v_e，因为后车刹车能力高于前车，此刻将为两车的最小距离c，而后可将后车的加速度与前车保持一致，以保证后车乘客体验更好，不再是最强的急刹车，从t₁时刻直到静止两车间距始终保持不变，假设t₀时刻前车速度减为v_x，则t₀到t₁时刻两车行进距离为：From the time t _{0 to the} time when the two cars are completely stationary, it is assumed that the speed of the two cars is the same at time t ₁ , which is v _e , because the braking ability of the rear car is higher than that of the preceding car, and at this moment will be the minimum distance c of the two cars, and then the the acceleration is consistent with the vehicle in front, in order to ensure that the passenger to experience better, is no longer the strongest brakes, from time t ₁ to standstill two vehicle distance remains constant, t is assumed that the vehicle deceleration time ago ₀ For v _x , then the distance traveled by two cars from t ₀ to t ₁ is:

前车行进距离

Front car travel distance

后车行进距离

Rear travel distance

v_e＝v_x+a₁*t₁＝v₁+a₂*t₁；v _e =v _x +a ₁ *t ₁ =v ₁ +a ₂ *t ₁ ;

把上式合并，可得到： Combine the above formula to get:

在|a₁|＜|a₂|时，

When |a ₁ |<|a ₂ |,

以上为后车最大刹车能力大于前车时，为保证前车急刹车时两车不相撞的安全距离。The above is the safety distance of the rear car when the maximum braking capacity is greater than that of the preceding car, in order to ensure that the two cars do not collide when the front car is suddenly braked.

在确定S_安全之后，还可以进一步检测第一车辆与第二车辆的当前距离S_当前；并根据当前距离与最小安全距离之间的关系，对第二车辆进行控制。在具体实施时，对行驶的第一车辆和第二车辆的当前距离的检测可以采用多种方式，例如，通过距离传感器检测本车与前车的距离。After determining S _security may further detect the first vehicle and the second vehicle, the distance to _{the current} S; and the relationship between the current distance and the minimum safety distance of a second vehicle control. In a specific implementation, the detection of the current distance of the first vehicle and the second vehicle that travels may be performed in various manners, for example, the distance between the host vehicle and the preceding vehicle is detected by the distance sensor.

在S103的第一种具体方式中，根据S_安全和S_当前对第二车辆进行控制可以具体包括在S_当前＜S_安全时，如果v₂≥v₁，则控制第二车辆减速。即，在后车与前车之间的距离小于最小安全距离时，如果后车的当前速度大于等于前车的当前速度，则控制第二车辆减速。In the first specific mode of S103, the _current control of the second vehicle according to S _safety and S may specifically include controlling the second vehicle to decelerate if V ₂ ≥ v ₁ when S is _currently <S _safe . That is, when the distance between the rear vehicle and the preceding vehicle is less than the minimum safety distance, if the current speed of the rear vehicle is greater than or equal to the current speed of the preceding vehicle, the second vehicle is controlled to decelerate.

在具体实施时，控制第二车辆减速的方式有多种，例如，可以向驾驶员发出减速提示，如发出特定的声音报警，或者发出语音“您与前车距离过小，请减速”直至与前车的距离增大至大于或等于S_安全；也可以直接控制第二车辆刹车至预定速度，例如，减速至小于v₁；更极端的，也可以控制第二车辆刹车至静止。In the specific implementation, there are various ways to control the deceleration of the second vehicle. For example, the driver may be issued with a deceleration prompt, such as issuing a specific audible alarm, or issuing a voice "You are too small from the preceding vehicle, please slow down" until The distance of the preceding vehicle is increased to be greater than or equal to S _safety ; it is also possible to directly control the second vehicle brake to a predetermined speed, for example, to decelerate to less than v ₁ ; and more extreme, to control the second vehicle to brake to rest.

在具体实施时，在S_当前＜S_安全时，如果v₂＜v₁，则表明后车的速度小于前车，也可以进行距离过小的提示，如发出特定的声音报警，或者发出语音“您与前车距离过小，请注意安全”等。In the specific implementation, when S is _currently <S _safe , if v ₂ <v ₁ , it indicates that the speed of the rear vehicle is smaller than that of the preceding vehicle, and the indication that the distance is too small may be performed, such as issuing a specific audible alarm or issuing a voice. The distance between you and the car is too small, please pay attention to safety.

在S103的第二种具体方式中，当S_当前＞S_安全时，如果v₂≤v₁，则获取第二车辆的最高限速v_2最高；如果v₂＜v_2最高，则控制第二车辆减小与第一车辆的距离至S_安全。即，在后车与前车之间的距离大于最小安全距离时，如果后车的当前速度小于等于前车的当前速度，则进一步获取后车的最高限速，如果最高限速大于后车的当前速度，则控制后车减小与前车的距离至S_安全。 In the second specific mode of S103, when S is _currently > S _safe , if v ₂ ≤ v ₁ , the highest speed limit v _{2 of the} second vehicle is acquired; if v ₂ < v _{2 is the highest} , then the second is controlled. The vehicle reduces the distance from the first vehicle to S _safety . That is, when the distance between the rear vehicle and the preceding vehicle is greater than the minimum safety distance, if the current speed of the rear vehicle is less than or equal to the current speed of the preceding vehicle, the maximum speed limit of the rear vehicle is further obtained, if the maximum speed limit is greater than that of the rear vehicle. At the current speed, the rear car is controlled to reduce the distance from the preceding vehicle to S _safety .

在具体实施时，可以采用多种方式减小后车与前车的距离，例如，可以向驾驶员发出缩小距离的提示，如发出特定的声音报警，或者发出语音“您与前车距离过大，可以提速”直至与前车的距离缩小至小于或等于S_安全；也可以直接控制后车加速，并在加速至两车之间的距离等于S_安全时，再减速至与前车相同的速度。In the specific implementation, the distance between the rear vehicle and the preceding vehicle can be reduced in various ways. For example, the driver can be prompted to narrow the distance, such as issuing a specific audible alarm, or issuing a voice "You are too far away from the preceding vehicle. , you can speed up" until the distance to the front car is reduced to less than or equal to S _safety ; you can also directly control the rear car acceleration, and when the distance between the two cars is equal to S _safety , then decelerate to the same speed as the previous car. .

在具体实施时，当S_当前＞S_安全时，且v₂≤v₁，如果v₂＝v_2最高，则可能表明后车已以最高限速行驶，已无法再提速，可以向用户发出缩小距离的提示，如发出特定的声音报警，或者发出语音“您与前车距离过大”供用户参考。In the specific implementation, when S is _currently >S _safe , and v ₂ ≤v ₁ , if v ₂ =v _{2 is the highest} , it may indicate that the following vehicle has traveled at the maximum speed limit, can no longer speed up, and can be reduced to the user. Tips for distance, such as issuing a specific audible alarm, or making a voice "You are too far from the front car" for your reference.

在具体实施时，当S_当前＞S_安全时，如果v₂＞v₁，则表明后车将在一定时间内追上前车，可以在两车距离缩小至S_安全时，再根据本申请实施例中的方法进行控制。In the specific implementation, when S is _currently >S _safe , if v ₂ >v ₁ , it indicates that the following vehicle will catch up with the preceding vehicle within a certain period of time, and can be implemented according to the present application when the distance between the two vehicles is reduced to S _safety . The method in the example is controlled.

其中，速度v的单位为米/秒(m/s)，距离S的单位为米(m)，刹车能力a的单位为米/平方秒(m/s²)。Wherein, the unit of the speed v is meters/second (m/s), the unit of the distance S is meters (m), and the unit of the braking capability a is meters/square seconds (m/s ² ).

在本申请实施例的一种具体实施方式中，可以检测前方可侦测范围内是否存在车辆，如果没有，则控制车辆按照最高限速行驶，保持对前后方的侦测；如果检测到，则以预定的周期与前车和/或后车进行通信，以实时获取前车的当前最大刹车能力、前车的速度、前车最高限速与最低限速等信息；同时将本车的当前最大刹车能力、本车的速度、本车的最高限速与最低限速等发送给本车的后车；然后各车辆根据获取的信息计算得到各自与自己的前车的最小安全距离，并根据该最小安全距离调整本车的速度。In a specific implementation manner of the embodiment of the present application, it is possible to detect whether there is a vehicle in the front detectable range, and if not, control the vehicle to travel at the highest speed limit, and maintain the detection of the front and rear; if detected, Communicate with the front and/or the rear vehicle at a predetermined cycle to obtain real-time information on the current maximum braking capacity of the preceding vehicle, the speed of the preceding vehicle, the maximum speed limit of the preceding vehicle, and the minimum speed limit; The braking capacity, the speed of the vehicle, the maximum speed limit and the minimum speed limit of the vehicle are sent to the rear vehicle of the vehicle; then each vehicle calculates the minimum safety distance from each of the preceding vehicles according to the obtained information, and according to the The minimum safety distance adjusts the speed of the car.

在本申请实施例的另一种具体实施方式中，可以将本申请实施例中的方案应用于控制设备。在车辆进入控制设备的控制范围内时，则以预定周期上报本车当前最大刹车能力、本车当前速度、本车最高限速与最低限速等信息；同时还可以在上报信息的同时上报本车的前后车辆信息；控制设备也可以根据各车辆的位置确定各车的前后车辆信息；然后由控制设备根据获取的各车的信息计算得到各车与自己的前车的最小安全距离，并根据该最小安全距离调整在后车辆的速度。In another specific implementation manner of the embodiment of the present application, the solution in the embodiment of the present application may be applied to a control device. When the vehicle enters the control range of the control device, the current maximum braking capacity of the vehicle, the current speed of the vehicle, the maximum speed limit and the minimum speed limit of the vehicle are reported in a predetermined period; and the information can be reported at the same time as the information is reported. Vehicle front and rear vehicle information; the control device can also determine the front and rear vehicle information of each vehicle according to the position of each vehicle; then the control device calculates the minimum safety distance between each vehicle and its own preceding vehicle according to the obtained information of each vehicle, and according to The minimum safe distance Adjust the speed of the vehicle behind.

采用本申请实施例中的车辆控制方法，由于可以实时的获知前车的速度变化，如果前车速度增加，则可根据后车的情况来调整后车的速度，例如，如果后车当前速度低于设定最高时速，则可以增大后车的速度以保持和前车相同速度，并根据当前速度重新计算最小安全距离；如果前车速度降低，也可以将后车的速度同步降低至与前车一致的速度，并以当前速度的最小安全距离S保持间距，从而使得车辆能够保持速度的同步，并使车辆之间一直处于当前速度下的最小安全距离，提高了道路通行效率。According to the vehicle control method in the embodiment of the present application, since the speed change of the preceding vehicle can be known in real time, if the front vehicle speed is increased, the speed of the following vehicle can be adjusted according to the situation of the following vehicle, for example, if the current speed of the rear vehicle is low. In setting the maximum speed, you can increase the speed of the rear vehicle to maintain the same speed as the preceding vehicle, and recalculate the minimum safe distance according to the current speed; if the front vehicle speed is reduced, you can also reduce the speed of the rear vehicle to the front. The vehicle maintains a constant speed and maintains a distance at the minimum safe distance S of the current speed, thereby enabling the vehicle to maintain speed synchronization and keep the vehicle at a minimum safe distance at the current speed, improving road traffic efficiency.

采用本申请实施例中提供的车辆控制方案，能够获第一车辆和第二车辆的速度、第一车辆和第二车辆的当前情况最大刹车能力；然后根据这些信息确定前后车之间的最小安全距离，并基于该最小安全距离对车辆进行控制，由于在计算最小安全距离时，考虑了车辆当前情况的最大刹车能力，因此提升了对车辆控制的精确度。With the vehicle control scheme provided in the embodiment of the present application, the speeds of the first vehicle and the second vehicle, the current situation and the maximum braking capability of the first vehicle and the second vehicle can be obtained; and then the minimum safety between the front and the rear vehicles is determined according to the information. The distance is controlled based on the minimum safe distance. Since the maximum braking capacity of the current situation of the vehicle is taken into consideration when calculating the minimum safety distance, the accuracy of vehicle control is improved.

基于同一发明构思，本申请实施例中还提供了一种车联网中车辆的控制装置，由于该装置解决问题的原理与本申请实施例一所提供的方法相似，因此该装置的实施可以参见方法的实施，重复之处不再赘述。Based on the same inventive concept, the embodiment of the present application further provides a control device for a vehicle in a vehicle network. Since the principle of solving the problem is similar to the method provided in the first embodiment of the present application, the implementation of the device can be referred to the method. The implementation, repetitions will not be repeated.

实施例二Embodiment 2

图2为本申请实施例二所示车联网中车辆的控制装置的结构示意图。FIG. 2 is a schematic structural diagram of a control device for a vehicle in a vehicle network according to Embodiment 2 of the present application.

如图2所示，本申请实施例二所示车联网中车辆的控制装置200包括：获取模块201，用于获取第一车辆的当前速度v₁、该第一车辆的当前最大刹车能力a₁、和该第二车辆的当前速度v₂、第二车辆的当前最大刹车能力a₂；其中，该第一车辆为第二车辆前方距离第二车辆最近的车辆；最小安全距离确定模块202，用于根据该v₁、a₁、v₂、a₂确定该第二车辆与该第一车辆的当前最小安全距离S_安全；控制模块203，用于根据该第一车辆与该第二车辆的当前距离 S_当前和该S_安全对该第二车辆进行控制。As shown, the present application shown in Example 2 two Telematics vehicle control apparatus 200 includes: an obtaining module 201, configured to obtain a first current speed of the vehicle v _1, the maximum current capability of the first vehicle braking a ₁ And a current speed v ₂ of the second vehicle, a current maximum braking capability a ₂ of the second vehicle; wherein the first vehicle is a vehicle that is closest to the second vehicle in front of the second vehicle; the minimum safety distance determining module 202 is configured to Determining, according to the v ₁ , a ₁ , v ₂ , a ₂ , the current minimum safety distance S of the second vehicle and the first vehicle is _safe ; the control module 203 is configured to: according to the current state of the first vehicle and the second vehicle S and a second _current from the vehicle to the _safety control S.

优选地，获取模块具体包括：第一接收子模块，用于接收该第一车辆发送的当前速度v₁；包括：用于每隔预定时间向前方预定范围内发送参数获取请求，接收第一车辆响应该请求向第二车辆返回的所述v₁。Preferably, the obtaining module comprises: a first receiving sub-module, for receiving the current speed of the vehicle transmitted from the first v _1; comprising: transmitting a parameter within a predetermined time every predetermined forward range acquisition request, receiving a first vehicle The v ₁ returned to the second vehicle in response to the request.

优选地，获取模块具体包括：触发子模块，用于触发该第一车辆根据该第一车辆轮胎当前受到路面的摩擦力确定该a₁；第二接收子模块，用于接收该第一车辆发送的当前最大刹车能力a₁；最大刹车能力确定模块，用于根据该第二车辆轮胎当前受到路面的摩擦力确定该a₂。Preferably, the obtaining module comprises: a trigger submodule, configured to trigger the first vehicle for determining the road surface frictional force a ₁ vehicle tire according to the first by a current; and a second receiving sub-module, for receiving the transmitted first vehicle The current maximum braking capacity a ₁ ; the maximum braking capacity determining module for determining the a ₂ according to the frictional force of the second vehicle tire currently being subjected to the road surface.

优选地，最小安全距离确定模块具体包括：最低限速获取子模块，用于在该v₁＜v₂时，获取该第二车辆的最低限速v_2最低；最小安全距离确定子模块，用于在v_2最低≤v₁时，根据该v₁、a₁、a₂确定该第二车辆与该第一车辆的当前最小安全距离S_安全。Preferably, the minimum safety distance determining module specifically includes: a minimum speed limit obtaining submodule, configured to acquire a minimum speed limit v _{2 of} the second vehicle when the v ₁ < v ₂ ; and a minimum safety distance determining submodule, v ₂ at the _lowest ≤v _1, the basis of the v _{_1,} a _1, a ₂ determines the current minimum safety distance S to the _safety of the first vehicle and the second vehicle.

优选地，最小安全距离确定模块具体包括：最小安全距离确定子模块，用于在v₁＝v₂，根据该v₁、a₁、a₂确定该第二车辆与该第一车辆的当前最小安全距离S_安全。Preferably, the minimum safety distance determining module specifically includes: a minimum safety distance determining submodule for determining a current minimum of the second vehicle and the first vehicle according to the v ₁ , a ₁ , a ₂ at v ₁ = v ₂ Safety distance S is _safe .

优选地，最小安全距离确定子模块具体包括：判断单元，用于判断a₁的绝对值|a₁|和a₂的绝对值|a₂|的大小；第一确定单元，用于在|a₁|≥|a₂|时，根据

确定S_安全；其中，t₀和c为预设常数。Preferably, the minimum safe distance determination sub-module comprises: determining means for determining the absolute value of a ₁ | a ₁ | ₂ and a absolute value | a ₂ | size; a first determining unit, configured to | a ₁ |≥|a ₂ |, according to

Determine S _security ; where t ₀ and c are preset constants.

优选地，最小安全距离确定子模块还包括：第二确定子模块，用于在|a₁|＜|a₂|时，根据

确定S_安全；其中，t₀和c为预设常数。Preferably, the minimum safety distance determining sub-module further includes: a second determining sub-module for, when |a ₁ |<|a ₂ |

Determine S _security ; where t ₀ and c are preset constants.

优选地，本申请实施例中的车辆控制装置还包括：当前距离检测模块，用于检测该第一车辆与该第二车辆的当前距离S_当前。Preferably, application of the present embodiment, the vehicle control apparatus further comprising: a current distance detection module for detecting the first vehicle and the second vehicle from the current S _current.

优选地，控制模块具体包括：第一控制子模块，用于在该S_当前＜S_安全时，且该v₂≥v₁时，控制该第二车辆减速。Preferably, the control module specifically includes: a first control submodule, configured to control the second vehicle to decelerate when the _current S is _safe and the v ₂ ≥ v ₁ .

优选地，本申请实施例中的车辆控制装置还包括：最高限速获取子模块，用于在该S_当前＞S_安全时，且在该v₂≤v₁时，获取该第二车辆的最高限速v_2最高；第二控制子模块，用于在该v₂＜v_2最高时，则控制该第二车辆减小与该第一车辆的距离至S_安全。Preferably, the vehicle control device in the embodiment of the present application further includes: a maximum speed limit acquisition submodule, configured to acquire the highest of the second vehicle when the S is _currently > S _safe , and when the v ₂ ≤ v ₁ The speed limit v _{2 is the highest} ; the second control submodule is configured to control the second vehicle to reduce the distance from the first vehicle to the S _safety when the v ₂ <v _{2 is the highest} .

优选地，本申请实施例中的车辆控制装置还包括发送模块，基于车辆的同步时钟，每隔预定时间向预定范围内发送自身的当前速度和当前最大刹车能力。Preferably, the vehicle control apparatus in the embodiment of the present application further includes a transmitting module that transmits its current current speed and current maximum braking capability to a predetermined range every predetermined time based on the synchronized clock of the vehicle.

优选的，所述发送模块，还发送车辆自身的标识信息。Preferably, the sending module further sends identification information of the vehicle itself.

采用本申请实施例中的车联网中车辆的控制装置，由于可以实时的获知前车的速度变化，如果前车速度增加，则可根据后车的情况来调整后车的速度，例如，如果后车当前速度低于设定最高时速，则可以增大后车的速度以保持和前车相同速度，并根据当前速度重新计算最小安全距离；如果前车速度降低，也可以将后车的速度同步降低至与前车一致的速度，并以当前速度的最小安全距离S保持间距，从而使得车辆能够保持速度的同步，并使车辆之间一直处于当前速度下的最小安全距离，提高了道路通行效率。According to the vehicle control device in the vehicle network in the embodiment of the present application, since the speed change of the preceding vehicle can be known in real time, if the front vehicle speed is increased, the speed of the rear vehicle can be adjusted according to the situation of the following vehicle, for example, if If the current speed of the car is lower than the set maximum speed, the speed of the rear car can be increased to maintain the same speed as the preceding car, and the minimum safe distance can be recalculated according to the current speed; if the front car speed is reduced, the speed of the following vehicle can also be synchronized. Reduce the speed to the same speed as the preceding vehicle and maintain the distance at the minimum safe distance S of the current speed, so that the vehicle can maintain the speed synchronization and keep the minimum safety distance between the vehicles at the current speed, improving the road traffic efficiency. .

采用本申请实施例中提供的车联网中车辆的控制装置，能够获第一车辆和第二车辆的速度、第一车辆和第二车辆的当前情况最大刹车能力；然后根据这些信息确定前后车之间的最小安全距离，并基于该最小安全距离对车辆进行控制，由于在计算最小安全距离时，考虑了车辆当前情况的最大刹车能力，因此提升了对车辆控制的精确度。 With the control device of the vehicle in the vehicle network provided in the embodiment of the present application, the speeds of the first vehicle and the second vehicle, the current situation of the first vehicle and the second vehicle, the maximum braking capability can be obtained; and then the front and rear vehicles are determined according to the information. The minimum safety distance between the vehicles is controlled based on the minimum safety distance. Since the maximum braking capacity of the current situation of the vehicle is taken into account when calculating the minimum safety distance, the accuracy of the vehicle control is improved.

基于同一发明构思，本申请实施例中还提供了一种车联网中车辆的控制***和一种车辆，由于该***和车辆解决问题的原理与本申请实施例一所提供的方法相似，因此该***和车辆的实施可以参见方法的实施，重复之处不再赘述。Based on the same inventive concept, the embodiment of the present application further provides a control system for a vehicle in a vehicle network and a vehicle. The principle of solving the problem in the system and the vehicle is similar to the method provided in the first embodiment of the present application. The implementation of the system and the vehicle can be referred to the implementation of the method, and the repetition will not be repeated.

图3为本申请实施例三所示车联网中车辆的控制***的结构示意图。FIG. 3 is a schematic structural diagram of a control system of a vehicle in a vehicle network according to Embodiment 3 of the present application.

如图3所示，本申请实施例三所示车联网中车辆的控制***300包括：至少一个车辆301；以及控制设备302，该控制设备包括车联网中车辆的控制装置200。As shown in FIG. 3, the vehicle control system 300 in the vehicle network shown in the third embodiment of the present application includes: at least one vehicle 301; and a control device 302, which includes a control device 200 for the vehicle in the vehicle network.

在本申请实施例中，车辆301检测本车的当前最大刹车能力、本车当前速度、本车最高限速与最低限速等信息，并发送至控制设备的车辆控制装置，以使车辆控制装置能够根据这些信息确定各车与前车的最小安全距离，并基于该最小安全距离来控制各车。In the embodiment of the present application, the vehicle 301 detects information such as the current maximum braking capacity of the vehicle, the current speed of the vehicle, the maximum speed limit and the minimum speed limit of the vehicle, and sends the information to the vehicle control device of the control device to make the vehicle control device Based on this information, the minimum safe distance between each vehicle and the preceding vehicle can be determined, and each vehicle can be controlled based on the minimum safe distance.

如图4所示，本申请实施例四所示车辆400包括：车联网中车辆的控制装置200。As shown in FIG. 4, the vehicle 400 shown in Embodiment 4 of the present application includes: a control device 200 for a vehicle in an Internet of Vehicles.

在本申请实施例中，各车辆接收前车的当前最大刹车能力、前车当前速度、前车最高限速与最低限速等信息，并检测本车的当前最大刹车能力、本车当前速度、本车最高限速与最低限速等信息，并基于这些信息确定本车与前车的最小安全距离，并基于该最小安全距离来控制本车。In the embodiment of the present application, each vehicle receives information such as the current maximum braking capacity of the preceding vehicle, the current speed of the preceding vehicle, the maximum speed limit of the preceding vehicle, and the minimum speed limit, and detects the current maximum braking capacity of the vehicle, the current speed of the vehicle, The information of the maximum speed limit and the minimum speed limit of the vehicle, and based on the information, determines the minimum safety distance between the vehicle and the preceding vehicle, and controls the vehicle based on the minimum safety distance.

本发明实施例五为一种车辆的控制设备，包括收发单元，用于数据收发；存储介质，用于存放程序；处理器，用于依照存储介质的程序执行实施例一的车联网中车辆的控制方法。Embodiment 5 of the present invention is a control device for a vehicle, including a transceiver unit for data transceiving; a storage medium for storing a program; and a processor for executing a vehicle in the vehicle network of Embodiment 1 according to a program of the storage medium Control Method.

采用本申请实施例中的车辆控制方案，由于可以实时的获知前车的速度变化，如果前车速度增加，则可根据后车的情况来调整后车的速度，例如，如果后车当前速度低于设定最高时速，则可以增大后车的速度以保持和前车相同速度，并根据当前速度重新计算最小安全距离；如果前车速度降低，也可以将后车的速度同步降低至与前车一致的速度，并以当前速度的最小安全距离S保持间距，从而使得车辆能够保持速度的同步，并使车辆之间一直处于当前速度下的最小安全距离，提高了道路通行效率。With the vehicle control scheme in the embodiment of the present application, since the speed change of the preceding vehicle can be known in real time, if the front vehicle speed is increased, the speed of the rear vehicle can be adjusted according to the situation of the following vehicle, for example, if the current speed of the rear vehicle is low. In setting the maximum speed, you can increase the speed of the rear vehicle to maintain the same speed as the preceding vehicle, and recalculate the minimum safe distance according to the current speed; if the front speed is lower, The speed of the rear vehicle can be reduced synchronously to a speed consistent with the preceding vehicle, and the distance is maintained at the minimum safe distance S of the current speed, so that the vehicle can maintain the speed synchronization and keep the minimum safety between the vehicles at the current speed. Distance improves road traffic efficiency.

本领域内的技术人员应明白，本申请的实施例可提供为方法、***、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art will appreciate that embodiments of the present application can be provided as a method, system, or computer program product. Thus, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment in combination of software and hardware. Moreover, the application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.

本申请是参照根据本申请实施例的方法、设备(***)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (system), and computer program products according to embodiments of the present application. It will be understood that each flow and/or block of the flowchart illustrations and/or FIG. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine for the execution of instructions for execution by a processor of a computer or other programmable data processing device. Means for implementing the functions specified in one or more of the flow or in a block or blocks of the flow chart.

这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。The computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device. The apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.

这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions can also be loaded onto a computer or other programmable data processing device. Having a series of operational steps performed on a computer or other programmable device to produce computer-implemented processing such that instructions executed on a computer or other programmable device are provided for implementing one or more processes and/or block diagrams in the flowchart. The steps of a function specified in a box or multiple boxes.

尽管已描述了本申请的优选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例作出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本申请范围的所有变更和修改。显然，本领域的技术人员可以对本申请进行各种改动和变型而不脱离本申请的精神和范围。这样，倘若本申请的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包含这些改动和变型在内。 While the preferred embodiment of the present application has been described, it will be apparent that those skilled in the art can make further changes and modifications to the embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and the modifications and It will be apparent to those skilled in the art that various modifications and changes can be made in the present application without departing from the spirit and scope of the application. Thus, it is intended that the present invention cover the modifications and variations of the present invention.

Claims

一种车联网中车辆的控制方法，其特征在于，包括：A method for controlling a vehicle in a vehicle network, characterized in that it comprises:

获取第一车辆的当前速度v₁、所述第一车辆的当前最大刹车能力a₁、和所述第二车辆的当前速度v₂、所述第二车辆的当前最大刹车能力a₂；其中，所述第一车辆为所述第二车辆前方距离所述第二车辆最近的车辆；Obtaining a current speed v ₁ of the first vehicle, a current maximum braking capacity a _{1 of} the first vehicle, and a current speed v ₂ of the second vehicle, and a current maximum braking capacity a _{2 of} the second vehicle; wherein The first vehicle is a vehicle that is closest to the second vehicle in front of the second vehicle;

根据所述v₁、a₁、v₂、a₂确定所述第二车辆与所述第一车辆的当前最小安全距离S_安全；The _{_{_{v 1, a 1, v 2}}} , a 2 to determine the current minimum security second vehicle and the first vehicle _safety according to the distance S;

根据所述第一车辆与所述第二车辆的当前距离S_当前和所述S_安全对所述第二车辆进行控制。Controlling the current distance between the first vehicle and the second vehicle and the _current S-S of the second vehicle _safety.
根据权利要求1所述的方法，其特征在于，所述第一车辆为所述第二车辆前方的距其最近的车辆。The method of claim 1 wherein said first vehicle is a vehicle closest to said second vehicle.
根据权利要求1所述的方法，其特征在于，所述获取第一车辆的当前最大刹车能力a₁具体包括：The method according to claim 1, wherein the obtaining the current maximum braking capability a _{1 of the} first vehicle specifically comprises:

触发所述第一车辆根据所述第一车辆轮胎当前受到路面的摩擦力确定所述a₁；接收所述第一车辆发送的当前最大刹车能力a₁。Trimming the first vehicle to determine the a ₁ according to a frictional force of the first vehicle tire currently being subjected to a road surface; receiving a current maximum braking capability a ₁ transmitted by the first vehicle.
根据权利要求1所述的方法，其特征在于，所述获取第二车辆的当前最大刹车能力a₂具体包括：根据所述第二车辆轮胎当前受到路面的摩擦力确定所述a₂。The method according to claim 1, wherein the obtaining the current maximum braking capability a _{2 of} the second vehicle comprises: determining the a ₂ according to a frictional force of the road surface of the second vehicle tire.
根据权利要求1所述的方法，其特征在于，所述根据所述v₁、a₁、v₂、a₂确定所述第二车辆与所述第一车辆的当前最小安全距离S_安全具体包括：The method according to claim 1, wherein said _{_{_{v 1, a 1, v 2}}} , a 2 to determine the current minimum safety distance S to _secure the second vehicle to the first vehicle comprises according to the :

如果所述v₁＜v₂，则获取所述第二车辆的最低限速v_2最低；If the v ₁ <v ₂ , obtaining the lowest speed limit v _{2 of} the second vehicle is the _lowest ;

如果v_2最低≤v₁，则根据所述v₁、a₁、a₂确定所述第二车辆与所述第一车辆的当前最小安全距离S_安全。If v _{2 lowest} ≤v _1, then according to the v _{_1,} a _1, a ₂ determines the current minimum safety distance S to _secure the second vehicle to the first vehicle.
根据权利要求1所述的方法，其特征在于，所述根据所述v₁、a₁、v₂、a₂确定所述第二车辆与所述第一车辆的当前最小安全距离S_安全具体包括：The method according to claim 1, wherein said _{_{_{v 1, a 1, v 2}}} , a 2 to determine the current minimum safety distance S to _secure the second vehicle to the first vehicle comprises according to the :

如果v₁＝v₂，则根据所述v₁、a₁、a₂确定所述第二车辆与所述第一车辆的当前最小安全距离S_安全。If v ₁ = v _2, then according to the v _{_1,} a _1, a ₂ determines the current minimum security second vehicle and the first vehicle _safety distance S.
根据权利要求4或5所述的方法，其特征在于，所述根据所述v₁、a₁、a₂确定所述第二车辆与所述第一车辆的当前最小安全距离S_安全具体包括：The method according to claim 4 or claim 5, wherein said v _{_1,} a _1, a ₂ is determined in accordance with the current minimum safety distance S _secure the first vehicle and the second vehicle comprises:

判断a₁的绝对值|a₁|和a₂的绝对值|a₂|的大小；A determination of the _absolute value of | a ₁ | ₂ and a absolute value | size | a _2;

如果|a₁|≥|a₂|，则
其中，所述t₀为与所述第一车辆和所述第二车辆之间的通信时延相关的预设时间常数，所述c为大于0的预设距离常数，代表所述第一车辆与所述第二车辆的速度均为0时所述两车之间的间隔距离。If |a ₁ |≥|a ₂ |, then
Wherein the t ₀ is a preset time constant related to a communication delay between the first vehicle and the second vehicle, and the c is a preset distance constant greater than 0, representing the first vehicle The distance between the two vehicles when the speed of the second vehicle is zero.
根据权利要求6所述的方法，其特征在于，还包括：The method of claim 6 further comprising:

如果|a₁|＜|a₂|，则
If |a ₁ |<|a ₂ |, then
根据权利要求1所述的方法，其特征在于，还包括：The method of claim 1 further comprising:

当所述S_当前＞S_安全时，如果所述v₂≤v₁，则获取所述第二车辆的最高限速v_2最高；When the S is _currently >S _safe , if the v ₂ ≤ v ₁ , obtaining the highest speed limit v _{2 of} the second vehicle is the _highest ;

如果所述v₂＜v₂最高，则控制所述第二车辆减小与所述第一车辆的距离至S_安全。If the v ₂ <v _{2 is the} highest, the second vehicle is controlled to reduce the distance from the first vehicle to S _safety .
根据权利要求1所述的方法，其特征在于，还包括：The method of claim 1 further comprising:

所述车辆设置同步时钟，每隔预定时间所述车辆向预定范围内发送自身的当前速度和当前最大刹车能力。 The vehicle sets a synchronous clock that transmits its current speed and current maximum braking capability to a predetermined range every predetermined time.
根据权利要求2所述的方法，其特征在于，所述接收所述第一车辆发送的当前速度v₁包括：The method according to claim 2, wherein the receiving the current speed v ₁ sent by the first vehicle comprises:

所述第二车辆每隔预定时间向前方预定范围内发送参数获取请求，接收所述第一车辆响应该请求向所述第二车辆返回的所述v₁。The second vehicle transmits a parameter acquisition request to the forward predetermined range every predetermined time, and receives the v ₁ returned by the first vehicle to the second vehicle in response to the request.
根据权利要求1所述的方法，其特征在于，还包括：The method of claim 1 further comprising:

所述车辆发送自身的标识信息。The vehicle transmits its own identification information.
一种车联网中车辆的控制装置，其特征在于，包括：A vehicle control device for a vehicle network, characterized in that it comprises:

获取模块，用于获取第一车辆的当前速度v₁、所述第一车辆的当前最大刹车能力a₁、和所述第二车辆的当前速度v₂、所述第二车辆的当前最大刹车能力a₂；其中，所述第一车辆为所述第二车辆前方距离所述第二车辆最近的车辆；An acquisition module, configured to acquire a current speed v ₁ of the first vehicle, a current maximum braking capability a _{1 of} the first vehicle, and a current speed v ₂ of the second vehicle, and a current maximum braking capability of the second vehicle a ₂ ; wherein the first vehicle is a vehicle that is closest to the second vehicle in front of the second vehicle;

最小安全距离确定模块，用于根据所述v₁、a₁、v₂、a₂确定所述第二车辆与所述第一车辆的当前最小安全距离S_安全；The minimum safety distance determining module for the _{_{_{v 1, a 1, v 2}}} , a 2 to determine the current minimum security second vehicle and the first vehicle _safety according to the distance S;

控制模块，用于根据所述第一车辆与所述第二车辆的当前距离S_当前和所述S_安全对所述第二车辆进行控制。A control module for controlling the vehicle according to the second _current and the current distance S S _security of the first vehicle and the second vehicle.
根据权利要求13所述的装置，其特征在于，所述获取模块具体包括：The device according to claim 13, wherein the obtaining module specifically comprises:

第一接收子模块，用于接收所述第一车辆发送的当前速度v₁，所述第一车辆为所述第二车辆前方的距其最近的车辆。a first receiving submodule, configured to receive a current speed v ₁ sent by the first vehicle, where the first vehicle is a vehicle closest to the second vehicle.
根据权利要求13所述的装置，其特征在于，所述获取模块具体包括：The device according to claim 13, wherein the obtaining module specifically comprises:

触发子模块，用于触发所述第一车辆根据所述第一车辆轮胎当前受到路面的摩擦力确定所述a₁；Trigger sub-module, configured to trigger the determining of the first vehicle to the first vehicle according to a ₁ by the current tire road surface friction;

第二接收子模块，用于接收所述第一车辆发送的当前最大刹车能力a₁；a second receiving submodule, configured to receive a current maximum braking capability a ₁ sent by the first vehicle;

最大刹车能力确定模块，用于根据所述第二车辆轮胎当前受到路面的摩擦力确定所述a₂。a maximum braking capability determining module for determining the a ₂ according to a frictional force of the second vehicle tire currently being subjected to a road surface.
根据权利要求13所述的装置，其特征在于，所述最小安全距离确定模块具体包括：The apparatus according to claim 13, wherein said minimum safe distance determining mode The block specifically includes:

最低限速获取子模块，用于在所述v₁＜v₂时，获取所述第二车辆的最低限速v_2最低；a minimum speed limit acquisition submodule, configured to acquire a minimum speed limit v _{2 of} the second vehicle when the v ₁ <v ₂ ;

最小安全距离确定子模块，用于在v_2最低≤v₁时，根据所述v₁、a₁、a₂确定所述第二车辆与所述第一车辆的当前最小安全距离S_安全。Minimum safety distance determination sub-module, for _{a minimum} ≤v ₁ v _2, the basis of the v _{_1,} a _1, a ₂ and determining the second vehicle to the first vehicle _safety current minimum safety distance S.
根据权利要求13所述的装置，其特征在于，所述最小安全距离确定模块具体包括：The apparatus according to claim 13, wherein the minimum safety distance determining module specifically comprises:

最小安全距离确定子模块，用于在v₁＝v₂，根据所述v₁、a₁、a₂确定所述第二车辆与所述第一车辆的当前最小安全距离S_安全。Minimum safety distance determination sub-module, configured to v ₁ = v _2, according to the v _{_1,} a _1, a ₂ determines the current minimum security second vehicle and the first vehicle _safety distance S.
根据权利要求16或17所述的装置，其特征在于，所述最小安全距离确定子模块具体包括：The apparatus according to claim 16 or 17, wherein the minimum secure distance determining sub-module specifically comprises:

判断单元，用于判断a₁的绝对值|a₁|和a₂的绝对值|a₂|的大小；Determination means for determining the absolute value of a ₁ | a ₁ | ₂ and a absolute value | size | a _2;

第一确定单元，用于在|a₁|≥|a₂|时，根据
确定S_安全；其中，所述t₀为与所述第一车辆和所述第二车辆之间的通信时延相关的预设时间常数，所述c为大于0的预设距离常数，代表所述第一车辆与所述第二车辆的速度均为0时所述两车之间的间隔距离。a first determining unit for when |a ₁ |≥|a ₂ |
Determining S _security ; wherein the t ₀ is a preset time constant related to a communication delay between the first vehicle and the second vehicle, and the c is a preset distance constant greater than 0, representing a The distance between the two vehicles when the speeds of the first vehicle and the second vehicle are both zero.
根据权利要求18所述的装置，其特征在于，所述最小安全距离确定子模块还包括：The apparatus according to claim 18, wherein the minimum secure distance determining sub-module further comprises:

第二确定子模块，用于在|a₁|＜|a₂|时，根据
确定S_安全。a second determining submodule for use in |a ₁ |<|a ₂ |
Determine S _security .
根据权利要求19所述的装置，其特征在于，还包括：The device according to claim 19, further comprising:

最高限速获取子模块，用于在所述S_当前＞S_安全时，且在所述v₂≤v₁时，获取所述第二车辆的最高限速v_2最高；Speed limit acquisition sub-module, configured _maximum speed limit v ₂ of the _current S> S when _safe, and when the v ₂ ≤v _1, obtain the second vehicle;

第二控制子模块，用于在所述v₂＜v_2最高时，则控制所述第二车辆减小与所述第一车辆的距离至S_安全。a second control submodule, configured to control the second vehicle to reduce the distance from the first vehicle to S _safety when the v ₂ <v _{2 is the highest} .
根据权利要求13所述的装置，其特征在于，还包括：The device according to claim 13, further comprising:

发送模块，基于所述车辆的同步时钟，每隔预定时间向预定范围内发送自身的当前速度和当前最大刹车能力。The transmitting module transmits its current speed and current maximum braking capability to a predetermined range every predetermined time based on the synchronized clock of the vehicle.
根据权利要求21所述的装置，其特征在于，所述发送模块，The apparatus according to claim 21, wherein said transmitting module,

发送车辆自身的标识信息。Send the identification information of the vehicle itself.
一种车辆控制设备，其特征在于，包括：A vehicle control device, comprising:

收发单元，用于数据收发；Transceiver unit for data transmission and reception;

存储介质，用于存放程序；Storage medium for storing programs;

处理器，用于依照所述存储介质的程序执行如权利要求1至12中任意一项所述的车联网中车辆的控制方法。A processor for performing a method of controlling a vehicle in a vehicle network according to any one of claims 1 to 12 in accordance with a program of the storage medium.
一种车辆，其特征在于，包括权利要求24所述的车辆控制设备 A vehicle characterized by comprising the vehicle control device of claim 24.