V2X-based formation driving intelligent network connection passenger car

Abstract

The invention discloses a V2X-based formation driving intelligent networked passenger car, which comprises a sensing and positioning device, a V2X information interconnection system and a chassis domain controller which are connected with an automatic driving domain controller, wherein the automatic driving domain controller decides a formation driving state according to collected multi-source information and outputs a target speed and acceleration of path tracking, the sensing and positioning device comprises an environment sensing unit and a positioning and navigation unit, the V2X information interconnection system broadcasts passenger car state information to other formation vehicles, and the chassis domain controller is used for path tracking control of the networked passenger car, drives an electronic accelerator to perform acceleration control through a CAN bus, performs deceleration control through motor braking and service braking, and sends an advancing command request of going straight, turning left or turning right to the steering motor controller through the CAN bus. According to the invention, formation driving cooperative control of multiple passenger cars can be achieved, dual-redundancy design is adopted in chassis domain controller hardware, and the stability, safety and reliability of formation driving are improved.

Description

technical field [0001] The invention belongs to the technical field of intelligent network-connected automatic driving vehicles, and in particular relates to a V2X-based intelligent network-connected bus for formation driving. Background technique [0002] With the rapid development and application of 5G technology, intelligent network technology and smart highway technology, cars will become a terminal of intelligent transportation systems, and the data communication and connection between cars and cars, cars and surrounding things will become more and more frequent. . The intelligent connected bus uses intelligent control, V2X (Vehicle to Everything) information interconnection, machine vision, navigation positioning, information fusion and other technologies to realize autonomous vehicle control and formation driving, and can ensure its driving maneuverability and safety without driving. staff control. The emergence of intelligent connected buses will fundamentally chan...

AI Technical Summary

Problems solved by technology

[0004] For the above several patents: the existing intelligent networked vehicles are mostly aimed at passenger cars or trucks, and most of them are only aimed at a single vehicle, or the fixed head car / main car adopts manual or automatic driving mode, and has not realized the formation driving coordination of multiple passenger cars control; most of the existing ICVs can only track the routes marked in advance, and cannot cope with complex traffic scenarios; it is difficult for the existing ICVs to drive autonomously without high-precision maps and roadside units; therefore, current With intelligent connected buses, it is still difficult to drive in a completely autonomous formation under the complex road conditions of real cities

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