Cooperative control method and device for vehicle formation
A collaborative control and vehicle technology, applied in the field of collaborative control of vehicle formations, can solve the problems of no automatic driving formation, no automatic driving formation, no consideration of fleet formation passing signal light intersections, etc., to reduce parking waiting time and improve road traffic. The effect of travel efficiency
Active Publication Date: 2020-05-26
新石器无人车(松阳)有限责任公司
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For example: the patent document with the publication number CN107274720A proposes a multi-vehicle coordination scheme, and the patent document with the publication number CN106708057A proposes a formation driving scheme, but the above-mentioned schemes do not consider how the fleet maintains formation and passes through the signal light intersection
The scheme recorded in the patent literature with the publication number CN104199451A is that the traffic control system of unmanned vehicles is used at signal light intersections, and the vehicle adjusts its own speed by receiving signal light signals to realize single-vehicle traffic at signal light intersections, but this scheme does not involve automatic driving formations
The scheme disclosed in the patent document with the application number CN201910721781.6 is to obtain the current signal light information through visual images, and use it for speed control of self-driving vehicles; Applicable to signal lights with a countdown, and not applicable to self-driving vehicles passing through in formation
[0004] In related technologies, there is no related technical solution for automatic driving formation to pass signal lights
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[0082] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this application. Rather, they are merely examples of methods and apparatus consistent with aspects of the present application as recited in the appended claims.
[0083] figure 1 It is a flow chart of a method for coordinated control of vehicle formations according to an exemplary embodiment. This method can be applied to the cooperative control of autonomous vehicle formations, and specifically includes the following steps:
[0084] Step S1: Obtain the status information of the signal lights at the current intersection.
[0085] The status infor...
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The invention relates to a cooperative control method and device for vehicle formation. The method comprises the steps of acquiring state information of signal lamps at a current intersection; according to the state information, judging whether the state of the signal lamp is consistent with the current state or not when the whole vehicle formation passes through the current intersection; according to the judgment result and the current state of the signal lamp, determining a target vehicle speed at which the vehicle formation can integrally pass through the current intersection; and controlling the speed of the vehicle formation according to the target vehicle speed. According to the scheme, through interaction with the signal lamps, the driving speed of the motorcade is adjusted in realtime according to the received information, and under the condition that normal work of the signal lamps is not intervened, it is ensured that the motorcade can completely and smoothly pass through signal lamp intersections, the parking waiting time is shortened, and the road traveling efficiency is improved.
Description
technical field [0001] The present application relates to the technical field of automatic driving formations, in particular to a method and device for cooperative control of vehicle formations. Background technique [0002] With the development of the autonomous driving industry, people are no longer satisfied with single-vehicle autonomous driving. There are more and more demands for the introduction of autonomous driving technology in multi-vehicle group driving such as group self-driving tours, business tours, and formation transportation. This type of travel mode Collectively referred to as formation driving. Formation driving can effectively improve traffic road utilization and improve safety. [0003] Existing formation driving technology focuses on maintaining formation, and does not involve the situation of automatic driving formation passing signal lights. For example: the patent document whose publication number is CN107274720A proposes a multi-vehicle coordinat...
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IPC IPC(8): G08G1/00G05D1/02
CPCG08G1/22G05D1/0293
Inventor 张弛
Owner 新石器无人车(松阳)有限责任公司