Automatic driving follow-up device and automatic driving fleet system

Abstract

The invention provides an automatic driving car following device and an automatic driving fleet system. The car following device is composed of a target beacon, a target detection module, a path generation module, a path tracking module and a first communication module. The target beacon is installed on the target On the vehicle, the target detection module first obtains the dynamic point cloud of the target, performs target recognition based on the target's prior model, the shape and reflectivity of the target beacon, obtains the target position information based on the target's dynamic point cloud, and sends the position information to Path generation module; the path generation module generates a tracking path based on multiple location information of the target, and sends the tracking path to the path tracking module; the path tracking module automatically controls the vehicle speed and steering according to the tracking path, and realizes that the car automatically follows the target. The present invention centrally controls multiple vehicles to drive in formation through a management device, which can improve the efficiency of the urban traffic system and save manpower.

Description

technical field [0001] The invention relates to the technical field of intelligent transportation, in particular to an automatic driving car following device and an automatic driving fleet system. Background technique [0002] As an important means of transportation, vehicles not only bring great convenience to people's lives, but also bring many unfavorable factors. Problems such as traffic congestion and traffic accidents seriously plague people. Improving the efficiency and safety of vehicle travel has become an urgent problem to be solved. The problem. [0003] Generally speaking, building more road traffic facilities to improve the traffic capacity of the road network is the most direct way to solve traffic problems. But for cities, space resources are limited, and it is difficult to fundamentally solve the complex problems in the transportation system by expanding transportation facilities. At the same time, for travelers, aging traffic facilities, disorderly managem...

AI Technical Summary

Problems solved by technology

However, the system will no longer work when the driver intervenes or the target changes lanes, turns, or turns around, and cannot automatically follow the car throughout the process.

In addition, the normal use of the camera will be affected by ambient light. The installation and calibration requirements of the binocular camera are relatively high, resulting in a high overall cost of the system, which limits its use in multi-vehicle formation scenarios.

[0011] During the search, it was also found that the Chinese patent application number 201710183867.9 discloses a method and system for fleet driving, but this invention uses millimeter-wave radar as the tracking target detection device, because the working principle of millimeter-wave radar is to emit specific electromagnetic wave pulses and receive The electromagnetic wave returned by the target analyzes the position of the target according to the returned wave spectrum. Under the existing conditions, the judgment of the target position by the millimeter-wave radar cannot be guaranteed to be stable and reliable, nor can it judge the identity of the target. Therefore, the target positioning based on the millimeter-wave radar is only It can realize the positioning of adjacent vehicles on straight roads or similar straight roads. For urban road environments with many pedestrians and unrelated vehicles, positioning may fail

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