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Vehicle formation autonomous following control system and method

A vehicle and formation technology, applied in the control/regulation system, vehicle position/route/height control, non-electric variable control and other directions, can solve the problems of not being able to resume following and the high error rate of following vehicles, and achieve deceleration or Acceleration control, the effect of reducing the error rate of following cars

Active Publication Date: 2019-01-08
BEIJING MECHANICAL EQUIP INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In view of the above analysis, the present invention aims to provide a vehicle formation autonomous following control system and method to solve the problems in the prior art that the vehicle following error rate is high after the vehicle formation, and the vehicle cannot resume following after the vehicle is lost.

Method used

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  • Vehicle formation autonomous following control system and method

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Embodiment 1

[0042] A specific embodiment of the present invention discloses a vehicle formation autonomous following control system, its structural schematic diagram is as follows figure 1 shown.

[0043] The vehicle formation autonomous following control system includes a control device, a communication device, a video detection device, a radar detection device, and a navigation device, and the communication device, the video detection device, the radar detection device, the navigation device, and the vehicle chassis pass through The communication cable is connected, and the communication device is connected with other vehicle communication devices through wireless communication (including but not limited to: 2G, 3G, 4G, 5G, radio).

[0044] If in the vehicle formation, the leading vehicle is a manned vehicle and the following vehicle is an unmanned vehicle, the leading vehicle needs to be equipped with a control device, a communication device and a navigation device, and the following v...

Embodiment 2

[0056] Another specific embodiment of the present invention discloses a vehicle formation autonomous following control method, which specifically includes the following steps:

[0057] Step S1, use the leading vehicle control device to input all vehicle numbers (including license plate numbers), determine the sequence of following vehicles, and complete formation formation;

[0058] Step S2: Use the control device of the leading car to input the destination, and the decision-making control module of the control device automatically completes the path planning; the leading car uses the video detection device to detect the video of the surrounding environment of the vehicle during driving, and the control device updates the path planning in real time according to the environmental information. The path planning specifically includes establishing an environment model using a modeling method such as a grid method, and then using an algorithm such as Dijkstra to search for a path to...

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Abstract

The invention relates to a vehicle formation autonomous following control system and method and belongs to the technical field of vehicle automatic driving, which solves the problem that the error rate for car-following-car after vehicle formation is high and following cannot be restored in the case of a loss of following. The vehicle formation autonomous following control system comprises a control device, a communication device and a video detecting device; the video detecting device is disposed in a following vehicle for identifying and storing the license plate and image features of the preceding vehicle; the control device is used for collecting and processing a video detection result of the video detecting device and performing path planning and decision control for the vehicle; thedecision control specifically comprises controlling the following vehicle to drive to the back of the front vehicle so that the following vehicle enters the field of view of the video detecting device; the communication device is used for implementing communication between vehicles. Autonomous following control of the vehicle formation is realized, which reduces the error rate of following of thevehicle formation and solves the problem that the vehicle cannot be re-followed after being lost.

Description

technical field [0001] The invention relates to the technical field of vehicle automatic driving, in particular to a vehicle formation autonomous following control system and method. Background technique [0002] Follow-up control of vehicle formations. Specific application scenarios include but are not limited to: transport vehicle formation transportation, fleet enthusiast formation driving, wedding vehicle formation driving, etc. The specific application forms include two types: a) Multiple unmanned vehicles form a formation, of which One vehicle is the leading vehicle, and the rest of the vehicles follow the preceding vehicle in turn, maneuvering from the starting point to the destination; b) Multiple unmanned vehicles and one manned vehicle form a formation, among which the manned vehicle is the leading vehicle, and the rest of the vehicles follow in sequence The vehicle in front maneuvers from the starting point to the destination. At present, the technical solutions ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0293G05D1/0295
Inventor 马力超张志彦李正新周军张浩坤张利剑刘洋
Owner BEIJING MECHANICAL EQUIP INST
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