Vehicle cooperative formation driving system

Abstract

The invention discloses a vehicle cooperative formation driving system, belonging to the field of vehicle network-connected automatic driving. The vehicle cooperative formation driving system comprises a network layer, a link layer, a coordination layer, a control layer and a physical layer from top to bottom; wherein a vehicular unit in the network layer is communicated with a wireless router inthe link layer through a wireless network; the wireless router is communicated with a central service unit CSU and a road side unit RSU respectively through Ethernet; and the ZeroMQ communication is adopted by the central service unit CSU and the road side unit RSU. The vehicle cooperative formation driving system adds low cost vehicular sensors such as vision and millimeter wave radars, and integrates perception fusion, path planning and decision control into a same software architecture, so as to integrate vehicle road environment information, and achieve reliable vehicle formation driving function through high precision controllers; the vehicle cooperative formation driving system is in line with the development trend of the network-connected vehicle formation driving, which is highly modular and easy to expand function; and the decentralized following strategy can reduce the impact of network communication uncertainty.

Description

technical field [0001] The invention belongs to the field of vehicle network-connected automatic driving, and in particular relates to a vehicle cooperative formation driving system. Background technique [0002] Intelligent networked vehicles refer to equipped with advanced on-board sensors, controllers, actuators and other devices, and integrate modern communication and network technologies to realize the exchange and sharing of intelligent information between vehicles and X (people, vehicles, roads, clouds, etc.), with complex Functions such as environmental perception, intelligent decision-making, and collaborative control can realize "safe, efficient, comfortable, and energy-saving" driving, and finally realize a new generation of vehicles that can replace humans to operate. Vehicle intelligence can be divided into five levels: driver assistance (DA), partially automated driving (PA), conditional automated driving (CA), highly automated driving (HA), and fully automated...

AI Technical Summary

Problems solved by technology

[0006] The current network-connected vehicle formation algorithm can only be used on structured roads with high-precision maps, and the leading vehicle (lead vehicle) is the center, and the car-following strategy is selected according to the status information sent by it. The robustness of the formation model is not strong ; Not combined with a method based on control stability theory to provide a decentralized self-driving multi-vehicle cooperative formation driving

Images