Vehicle formation driving method

A vehicle driving and vehicle technology, which is applied in traffic flow detection and other directions, can solve problems such as manual work, decreased tracking accuracy, and increased driver workload, so as to achieve the effect of ensuring vehicle driving safety, ensuring the scope of application, and meeting actual needs

Active Publication Date: 2021-12-03
BEIJING MECHANICAL EQUIP INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The two existing methods of following the vehicle mentioned above need to be implemented on structured roads, especially with assistance such as lane lines to ensure the accuracy of following. Accurate tracking of the trajectory, the decline of tracking accuracy will make it unusable on complex unstructured roads
At the same time, the vehicle formation process in the prior art generally requires the confirmation of the driver of the leading vehicle, and automatic team formation cannot be realized. As a result, the driver of the leading vehicle must not only drive the vehicle manually, but also check in real time whether there is a vehicle joining. On the one hand, It increases the driver's workload, and on the other hand, it is easy to distract the driver's attention and reduce the safety of vehicle formation driving

Method used

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Embodiment 1

[0056] Embodiment 1 of the present invention discloses a vehicle formation driving method, the flow chart is as follows figure 1 shown, including the following steps:

[0057] Step S11: Start the navigation device of each vehicle to be formed; the formation to be formed includes one pilot vehicle and several non-lead vehicles;

[0058] Step S12: broadcasting the vehicle information of the pilot vehicle; the non-pilot vehicle receives the vehicle information of the pilot vehicle and sends its own vehicle information to the pilot vehicle;

[0059] The vehicle information at least includes: license plate number, driving destination, vehicle driving status, status of the navigation device, and vehicle type; wherein, the vehicle driving status includes: not joining a fleet, joining a fleet; wherein, the vehicle type includes: Leading vehicle, following vehicle; It should be noted that in the vehicle information of non-leading vehicles, the default vehicle type; when it joins the f...

Embodiment 2

[0098] Considering that during the driving process of the vehicle formation, there may also be a situation that a vehicle whose driving status is not joining the fleet wants to join the vehicle formation. In order to solve this problem, further improvement is made on the basis of Embodiment 1. In addition to the relevant content of Embodiment 1, the improved vehicle formation driving method also includes the steps in Embodiment 2. The flow chart is as follows image 3 As shown, the specific description is as follows:

[0099] Step S21: During the driving process of the vehicle formation, the vehicles that have not joined the convoy send their own vehicle information to the lead vehicle. After the lead vehicle confirms that it is correct, the lead vehicle sends the GPS information of the following vehicle at the end of the formation to the unattended vehicle. Vehicles joining the fleet;

[0100] Step S22: Based on the GPS information, the vehicle that has not joined the convoy...

Embodiment 3

[0106] Considering that during the process of vehicle formation driving, following vehicles may also exit the vehicle formation due to navigation device failure or other reasons. In order to solve this problem, on the basis of embodiment 1 or embodiment 2, the improved vehicle formation driving method may also include the steps in embodiment 3, the flow chart is as follows Figure 4 As shown, the specific description is as follows:

[0107] Step S31: During the driving process of the vehicle formation, the leading vehicle periodically receives the vehicle dynamic driving information reported by the following vehicles;

[0108] The dynamic driving information of the vehicle includes the driving state of the vehicle and the information of the vehicle in front collected by the vehicle; the information of the vehicle in front collected by the vehicle is: the distance information from the vehicle in front or the driving track of the vehicle in front;

[0109] Step S32: If the lead...

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Abstract

The invention relates to a vehicle formation driving method, which belongs to the technical field of vehicle automatic driving, and solves the problems that a vehicle formation cannot be automatically formed and the vehicle following precision is low in the prior art. The method comprises the following steps that a navigation device of each to-be-formed vehicle is started; vehicle information of the piloted vehicle is broadcasted; the non-piloted vehicle receives the vehicle information of the piloted vehicle and sends the vehicle information of the non-piloted vehicle to the piloted vehicle, the vehicle information of the non-piloted vehicle is confirmed by the piloted vehicle to be correct and then serves as a following vehicle to join the vehicle team, and the vehicle information of the following vehicle is set to form a vehicle form; the pilot vehicle numbers all vehicles in the vehicle formation, arranges the vehicle information and numbers of all vehicles in the vehicle formation into a vehicle information table, and broadcasts the vehicle information table to all following vehicles in the vehicle formation; the following vehicle determines a front vehicle of the following vehicle based on the vehicle information table; and the following vehicles also realize vehicle formation driving based on the front vehicles of the following vehicles and the information collected by the navigation devices of the following vehicles.

Description

technical field [0001] The invention relates to the technical field of automobile automatic driving, in particular to a vehicle formation driving method. Background technique [0002] The invention relates to the field of automatic driving of automobiles, in particular to an automatic driving method for automatic following of vehicle formations. At present, there are two ways to realize the automatic following technology of the vehicle in front: one is to use the intelligent adaptive cruise function on high-end cars to track the vehicle in front through radar and keep the lane through the camera. Due to the limited field of view of the radar and the reflection of radar echoes by other objects, this method can only be applied to curves on high-speed roads with a large turning radius, so this function is only to assist driving. Patent CN109164809A describes another implementation method, which uses image recognition to track the vehicle ahead in a visual navigation manner. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/165B60W60/00G08G1/01
CPCB60W30/165B60W60/0059G08G1/01
Inventor 李子伟刘洋韩晓英杨斌李雨洋马力超
Owner BEIJING MECHANICAL EQUIP INST
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