Interaction control method and control system for sightseeing vehicle platoon operation based on v2v
By using the V2V interactive control method, and utilizing components such as the electronic handbrakes of the lead vehicle and the following vehicles, the host computer, and the UWB communication module, the problem of insufficient human-machine interaction in multi-vehicle collaborative platooning is solved. This enables synchronous control and real-time monitoring of multiple vehicles, improving the safety and efficiency of platooning operations.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SICHUAN YUNKE XINNENG AUTOMOBILE TECH CO LTD
- Filing Date
- 2023-01-09
- Publication Date
- 2026-06-19
AI Technical Summary
In existing technologies, intelligent driving systems for multi-vehicle platooning lack effective human-machine interaction, especially the monitoring and control of following vehicles by the lead vehicle. Furthermore, platooning occupies a large amount of road space, the expression of platooning intentions is inconsistent, and the platooning flexibility is poor.
The system employs a V2V-based interactive control method, utilizing components such as electronic handbrakes, host computers, vehicle controllers, and UWB communication modules in both the lead vehicle and following vehicles to achieve vehicle status self-checking, synchronous control, and real-time monitoring. This includes self-checking, fault diagnosis, steering angle calculation, and vehicle peripheral control, ensuring the safety and stability of platooning operations.
It enables synchronous control and real-time monitoring of multiple vehicles, simplifies platoon formation and disgrouping, reduces costs, is easy to install without modifying the original vehicle hardware, and realizes the collection and rapid diagnosis of self-check information from multiple vehicles, thereby improving the safety and efficiency of platooning operations.
Smart Images
Figure CN116039633B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of autonomous driving, specifically to an interactive control method and control system for V2V-based sightseeing vehicle platooning. Background Technology
[0002] With the continuous advancement of autonomous vehicle technology and the constant innovation of products, the application of autonomous vehicles in fully enclosed and semi-enclosed specific scenarios is increasing. However, the practical application of intelligent driving based on multi-vehicle collaborative platooning is almost non-existent. Human-machine interaction systems are almost all innovations and optimizations focused on the monitoring and control of the vehicle itself. There are virtually no human-machine interaction systems for multi-vehicle interaction. However, in multi-vehicle platooning with unmanned following vehicles, the monitoring and control interaction of the lead vehicle for the entire platoon becomes particularly important. On the one hand, the lead vehicle needs to monitor whether the following vehicles are following the vehicle according to the expected trajectory and speed. On the other hand, the platoon's movement occupies a large portion of the road, and the platoon's driving intention should also be expressed synchronously through the indicator lights of the following vehicles. At the same time, the lead vehicle needs to control the grouping and disgrouping of the following vehicles, which is especially important in flexibly grouped platoons. Summary of the Invention
[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide an interactive control method for V2V-based sightseeing vehicle platooning operation, comprising the following steps:
[0004] Step 1: Park the lead car at the target position directly in front of the following car with a distance greater than the target distance of the following car, and engage the electronic parking brake of the lead car;
[0005] Step 2: Select the following mode through the host computer of the lead vehicle. The vehicle controller of the following vehicle performs a self-check on the status of the following vehicle. If there is no abnormality, the following vehicle enters the following mode, enters the formation, and reports to the lead vehicle that it has entered the following state, and proceeds to Step 4; if there is an abnormality, proceed to Step 3.
[0006] Step 3: During the self-inspection of the following vehicle, if an abnormal vehicle status is found, the following vehicle will park and engage the handbrake, and report the fault status and cause to the on-board host computer of the navigating vehicle. After receiving the information, the on-board host computer of the navigating vehicle will broadcast the cause of the fault via voice and troubleshoot the following vehicle at the same time. After the fault is troubleshooted, the following vehicle will enter the formation and proceed to Step 4.
[0007] Step 4: After the following vehicles enter the platoon normally, the lead vehicle releases its electronic parking brake, and the following vehicles release it simultaneously. The following vehicles synchronize with the lead vehicle's actions on the vehicle's external devices. During the lead vehicle's operation, the positional relationship between the lead vehicle and the road and the attitude of the lead vehicle are displayed in real time on the host computer; as well as the status information of the platoon vehicles, are also displayed in real time on the lead vehicle's onboard host computer.
[0008] Step 5: During the following process, the following vehicle obtains the step value of the steering angle calculation of the following vehicle. If the step value of the steering angle calculation exceeds the threshold, the following vehicle automatically straightens the direction and brakes urgently, and the lead vehicle decelerates and stops.
[0009] Step Six: When the convoy operation mission ends, select "Exit Follow Mode" on the host computer in the lead vehicle. All following vehicles will then exit follow mode, automatically park, and engage the handbrake, completing the convoy control.
[0010] Furthermore, if the position and posture of the following vehicle when entering and exiting the following mode are consistent with the set position and posture, then the entry and exit of the following mode are completed.
[0011] If the position and posture of the following vehicle do not conform to the set position and posture when entering and exiting the following mode, the position and posture of the following vehicle will be adjusted to the set position and posture according to the position of the lead vehicle.
[0012] Furthermore, the vehicle controller of the following vehicle performs self-checks on the status of the following vehicle, including self-checks on vehicle control mode, positioning data, UWB communication status, CAN message frame loss detection of vehicle formation, distance between adjacent vehicles, expected speed and real-time speed of the following vehicle.
[0013] Furthermore, the step value of the steering angle calculation is as follows: the change value of the front wheel requested steering angle calculated at the previous moment and the current moment is solved in real time, and it is determined whether its absolute value exceeds the threshold. If it exceeds the threshold, the steering angle step flag is triggered and the flag signal is maintained until it exits and re-enters the following mode to resume.
[0014] Furthermore, the actions performed by the following vehicle and the lead vehicle on the vehicle's peripherals include the lead vehicle's control of the turn signals, brake lights, headlights, horn, and windshield wipers, which are then synchronously executed by the following vehicles entering the formation.
[0015] The interactive control system for V2V sightseeing vehicle platooning includes a UWB wireless communication module, a single-board computer serial-to-CAN module, a lead vehicle's onboard host computer, a vehicle controller (VCU), and a follow vehicle control module. The UWB wireless communication module, the single-board computer serial-to-CAN module, and the lead vehicle's onboard host computer are all connected to the vehicle controller (VCU), and the follow vehicle control module is communicatively connected to the UWB wireless communication module.
[0016] Preferably, the following vehicle control module includes a following vehicle controller (VCU), a UWB wireless communication device, a following vehicle positioning device, and an ultrasonic module; the UWB wireless communication device, the following vehicle positioning device, and the ultrasonic module are respectively connected to the following vehicle controller (VCU), and the UWB wireless communication device is communicatively connected to the UWB wireless communication module.
[0017] The beneficial effects of this invention are: it enables synchronous control and real-time monitoring of multiple vehicles; it summarizes and prompts self-check information from multiple vehicles, facilitating quick diagnosis and restoration of vehicles in the platoon to operational status; it is low-cost and easy to install, requiring no modification to the original vehicle hardware, and only needs to deploy a wireless communication module to achieve inter-vehicle communication. Combined with the human-machine interaction of the onboard host computer and vehicle control by the VCU controller, synchronous control and monitoring of platooned vehicles can be achieved. Attached Figure Description
[0018] Figure 1 A flowchart illustrating the interactive control method for V2V-based sightseeing vehicle platooning operation;
[0019] Figure 2 A schematic diagram illustrating the principle of an interactive control system for V2V-based sightseeing vehicle platooning.
[0020] Figure 3 This is a schematic diagram of V2V communication. Detailed Implementation
[0021] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the following description.
[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention; that is, the described embodiments are only a part of the embodiments of the invention, and not all of them. The components of the embodiments of the invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.
[0023] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention. It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations.
[0024] Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.
[0025] The features and performance of the present invention will be further described in detail below with reference to embodiments.
[0026] like Figure 1 As shown, the interactive control method for V2V-based sightseeing vehicle platooning includes the following steps:
[0027] Step 1: Park the lead car at the target position directly in front of the following car with a distance greater than the target distance of the following car, and engage the electronic parking brake of the lead car;
[0028] Step 2: Select the following mode through the host computer of the lead vehicle. The vehicle controller of the following vehicle performs a self-check on the status of the following vehicle. If there is no abnormality, the following vehicle enters the following mode, enters the formation, and reports to the lead vehicle that it has entered the following state, and proceeds to Step 4; if there is an abnormality, proceed to Step 3.
[0029] Step 3: During the self-inspection of the following vehicle, if an abnormal vehicle status is found, the following vehicle will park and engage the handbrake, and report the fault status and cause to the on-board host computer of the navigating vehicle. After receiving the information, the on-board host computer of the navigating vehicle will broadcast the cause of the fault via voice and troubleshoot the following vehicle at the same time. After the fault is troubleshooted, the following vehicle will enter the formation and proceed to Step 4.
[0030] Step 4: After the following vehicles enter the platoon normally, the lead vehicle releases its electronic parking brake, and the following vehicles release it simultaneously. The following vehicles synchronize with the lead vehicle's actions on the vehicle's external devices. During the lead vehicle's operation, the positional relationship between the lead vehicle and the road and the attitude of the lead vehicle are displayed in real time on the host computer; as well as the status information of the platoon vehicles, are also displayed in real time on the lead vehicle's onboard host computer.
[0031] Step 5: During the following process, the following vehicle obtains the step value of the steering angle calculation of the following vehicle. If the step value of the steering angle calculation exceeds the threshold, the following vehicle automatically straightens the direction and brakes urgently, and the lead vehicle decelerates and stops.
[0032] Step Six: When the convoy operation mission ends, select "Exit Follow Mode" on the host computer in the lead vehicle. All following vehicles will then exit follow mode, automatically park, and engage the handbrake, completing the convoy control.
[0033] If the position and posture of the following vehicle when entering and exiting the following mode are consistent with the set position and posture, then the entry and exit of the following mode are completed.
[0034] If the position and posture of the following vehicle do not conform to the set position and posture when entering and exiting the following mode, the position and posture of the following vehicle will be adjusted to the set position and posture according to the position of the lead vehicle.
[0035] The vehicle controller of the following vehicle performs self-checks on the status of the following vehicle, including self-checks on vehicle control mode, positioning data, UWB communication status, CAN message frame loss detection of vehicle formation, distance between adjacent vehicles, expected speed and real-time speed of the following vehicle.
[0036] The step value of the steering angle calculation is as follows: the change value of the front wheel requested steering angle calculated at the previous moment and the current moment is solved in real time, and it is determined whether its absolute value exceeds the threshold. If it exceeds the threshold, the steering angle step flag is triggered and the flag signal is maintained until it exits and re-enters the following mode to resume.
[0037] The actions performed by the lead vehicle and the following vehicle in sync with each other include the lead vehicle's control of turn signals, brake lights, headlights, horn, and windshield wipers, which are then executed synchronously by the following vehicles entering the formation.
[0038] The interactive control system for V2V sightseeing vehicle platooning includes a UWB wireless communication module, a single-board computer serial-to-CAN module, a lead vehicle's onboard host computer, a vehicle controller (VCU), and a follow vehicle control module. The UWB wireless communication module, the single-board computer serial-to-CAN module, and the lead vehicle's onboard host computer are all connected to the vehicle controller (VCU), and the follow vehicle control module is communicatively connected to the UWB wireless communication module.
[0039] Preferably, the following vehicle control module includes a following vehicle controller (VCU), a UWB wireless communication device, a following vehicle positioning device, and an ultrasonic module; the UWB wireless communication device, the following vehicle positioning device, and the ultrasonic module are respectively connected to the following vehicle controller (VCU), and the UWB wireless communication device is communicatively connected to the UWB wireless communication module.
[0040] Specifically, the vehicle is equipped with a UWB wireless communication module, a single-board computer serial-to-CAN converter, an onboard host computer, and a vehicle control unit (VCU). The UWB wireless communication module is used for wirelessly transmitting serial port data. The single-board computer serial-to-CAN converter is used for information exchange with the UWB module, acting as a bridge between the UWB module and the vehicle's CAN bus, converting data between UART and CAN. The onboard host computer refers to the host computer software installed on the onboard PC, used to display data captured from the CAN bus and send control messages to the CAN bus. The human-machine interface displays detailed vehicle status information. Communication between the PC host and the vehicle's CAN bus requires an external CAN card. The vehicle control unit (VCU) is used to control the hardware to execute control commands issued by the host computer and to feed back vehicle status information CAN messages to the host computer.
[0041] A human-machine interaction control method for V2V-based electric sightseeing vehicle platooning includes the following steps:
[0042] Step 1: The safety officer drives the lead vehicle and parks it in front of the following vehicle at a distance greater than the distance to the target.
[0043] Step 2: The lead vehicle switches to follow mode via the host computer. The follow vehicle performs a self-check of its own status. If there are no abnormalities, it enters follow mode and reports to the lead vehicle that it has entered follow mode.
[0044] Step 3: During the self-check of the following vehicle, if an abnormal vehicle status is found, the vehicle will be parked and the handbrake will be engaged. The fault status, specific faulty equipment, and cause will be reported to the host computer on the navigation vehicle. After receiving the information, the host computer will broadcast the cause of the fault via voice.
[0045] Step 4: After the following vehicles enter the formation normally, the lead vehicle releases its electronic parking brake, and the following vehicles release it simultaneously. The following vehicles will also respond and execute the lead vehicle's control of external devices such as turn signals, electric horn, and windshield wipers in sync. During the lead vehicle's operation, the position and attitude of the lead vehicle relative to the road are displayed in real time on the host computer.
[0046] Step 5: The status information of the convoy vehicles (including the lead vehicle and the following vehicles) is displayed on the host computer in real time, which makes it easy for the safety officer to monitor and diagnose the status of the entire convoy vehicles.
[0047] Step Six: If the following vehicle's steering angle calculation value jumps beyond the threshold due to a positioning abnormality during the following process, the following vehicle will automatically straighten its direction and brake urgently, while the lead vehicle will smoothly decelerate and park. The host computer will also provide a voice prompt indicating that the following vehicle's steering angle calculation is incorrect.
[0048] The steering angle is the front wheel steering angle of the following vehicle, calculated by the vehicle control unit (VCU) using a pure tracking method, and includes:
[0049] Let the aiming distance be len_ahead and the instantaneous turning radius be R. According to the law of sine, we can obtain:
[0050]
[0051] Based on the trigonometric function formulas, further simplification is achieved:
[0052]
[0053] The relationship between front wheel steering angle, steering radius R, and vehicle wheelbase L:
[0054] δ f =arctan(L / R)
[0055] The required front wheel steering angle can be obtained:
[0056]
[0057] θ is the angle between the current vehicle body posture and the target path point;
[0058] Step 7: V2V vehicle-to-vehicle communication uses a combination of UWB and a single-board computer. The single-board computer is responsible for converting UWB serial port information and vehicle CAN bus messages to each other. UWB communicates between different modules in the form of wireless broadcast.
[0059] Step 8: When the convoy operation mission ends, the safety officer selects to exit the following mode on the host computer in the lead vehicle. Then all following vehicles will exit the following mode, automatically park, and engage the handbrake.
[0060] The position and posture of the following vehicle are subject to restrictions when entering and exiting the following mode. The vehicle must be on a nearly straight road and in a designated parking space. This is a strongly managed mode.
[0061] The vehicle status information includes vehicle control mode, high-precision positioning data, UWB communication status, CAN message frame loss detection status related to vehicle platooning, distance between adjacent vehicles, and expected and real-time speeds of following vehicles.
[0062] The above description is merely a preferred embodiment of the present invention. It should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the concept described herein through the above teachings or related technologies or knowledge. Modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.
Claims
1. An interactive control method for a sightseeing vehicle platoon operation based on V2V, characterized by, Includes the following steps: Step 1: Park the lead car at the target position directly in front of the following car with a distance greater than the target distance of the following car, and engage the electronic parking brake of the lead car; Step 2: Select the following mode through the host computer of the lead vehicle. The vehicle controller of the following vehicle performs a self-check on the status of the following vehicle. If there is no abnormality, the following vehicle enters the following mode, enters the formation, and reports to the lead vehicle that it has entered the following state, and proceeds to Step 4; if there is an abnormality, proceed to Step 3. Step 3: During the self-inspection of the following vehicle, if an abnormal vehicle status is found, the following vehicle will park and engage the handbrake, and report the fault status and cause to the on-board host computer of the navigating vehicle. After receiving the information, the on-board host computer of the navigating vehicle will broadcast the cause of the fault via voice and troubleshoot the following vehicle at the same time. After the fault is troubleshooted, the following vehicle will enter the formation and proceed to Step 4. Step 4: After the following vehicles enter the platoon normally, the lead vehicle releases its electronic parking brake, and the following vehicles release it simultaneously. The following vehicles synchronize with the lead vehicle's actions on the vehicle's external devices. During the lead vehicle's operation, the positional relationship between the lead vehicle and the road and the attitude of the lead vehicle are displayed in real time on the host computer; as well as the status information of the platoon vehicles, are also displayed in real time on the lead vehicle's onboard host computer. Step 5: During the following process, the following vehicle calculates the step value of the front wheel steering angle in real time. If the step value exceeds the threshold, the following vehicle automatically straightens the direction and brakes urgently, and the lead vehicle decelerates and stops. Step Six: When the formation operation mission ends, select "Exit Follow Mode" on the host computer of the lead vehicle. Then all following vehicles will exit the follow mode, automatically park and engage the handbrake, thus completing the formation control. The step value of the steering angle calculation is as follows: the change value of the front wheel requested steering angle calculated at the previous moment and the current moment is solved in real time, and it is determined whether its absolute value exceeds the threshold. If it exceeds the threshold, the steering angle step flag is triggered and the flag signal is maintained until it exits and re-enters the following mode to recover. The actions performed by the lead vehicle and the following vehicle on the vehicle's external devices include the lead vehicle's control of the turn signals, brake lights, headlights, electric horn, and windshield wipers, and the follow vehicles entering the formation respond and execute them synchronously. The method is implemented through an interactive control system for the operation of sightseeing vehicles in a V2V convoy, including a UWB wireless communication module, a single-board computer serial-to-CAN module, a lead vehicle onboard host computer, a vehicle controller (VCU), and a follow vehicle control module. The UWB wireless communication module, the single-board computer serial-to-CAN module, and the lead vehicle onboard host computer are respectively connected to the vehicle controller (VCU), and the follow vehicle control module is communicatively connected to the UWB wireless communication module. The following vehicle control module includes a following vehicle controller (VCU), a UWB wireless communication device, a following vehicle positioning device, and an ultrasonic module; the UWB wireless communication device, the following vehicle positioning device, and the ultrasonic module are respectively connected to the following vehicle controller (VCU), and the UWB wireless communication device is communicatively connected to the UWB wireless communication module.
2. The interactive control method for V2V-based sightseeing vehicle platooning operation according to claim 1, characterized in that, If the position and posture of the following vehicle when entering and exiting the following mode are consistent with the set position and posture, then the entry and exit of the following mode are completed. If the position and posture of the following vehicle do not conform to the set position and posture when entering and exiting the following mode, the position and posture of the following vehicle will be adjusted to the set position and posture according to the position of the lead vehicle.
3. The interactive control method for V2V-based sightseeing vehicle platooning operation according to claim 1, characterized in that, The vehicle controller of the following vehicle performs self-checks on the status of the following vehicle, including self-checks on vehicle control mode, positioning data, UWB communication status, CAN message frame loss detection of vehicle formation, distance between adjacent vehicles, expected speed and real-time speed of the following vehicle.