392 results about "Lead vehicle" patented technology

A hitch point where a receiving vehicle is coupled to a following vehicle is located relative to a leading vehicle. The trajectory or route of the following vehicle is detected and a dynamic model estimates a location of a receiving area in the receiving vehicle relative to the leading vehicle based on the trajectory or route of the following vehicle and the location of the hitch point relative to the leading vehicle.

The disclosure relates to the system and methods for generating a guidance path for automated navigation of large agricultural equipment. Vehicle path data from leading vehicles can be recorded, stored or inputted into the system for generation of guidance paths offset from the swaths traversed by the leading vehicle. Combines, planters sprayers and other vehicles utilizing guidance system can be used to record leading vehicle data for use by the following vehicle in real time or in subsequent cycles. Enterprise systems can manage multiple grain carts and / or combines or other vehicles to maximize efficiency.

The invention relates to a formation driving coordination method based on vehicle-road cooperation, and the method comprises the steps: a road side unit RSU is used for releasing a traffic constraint weight value containing the information of passing restriction, path guidance, risk distribution and the like into a formation driving region, and the weight value forms a traffic environment guidance domain with a potential gradient at a vehicle end; the vehicle autonomously completes formation aggregation and position arrangement based on the own state and the weight change trend in the local sensing environment; after the formation is completed, the vehicles dynamically form a multi-level influence circle structure according to relative positions, historical cooperative behaviors and influence factors provided by the RSU, a current leading vehicle exists in each layer of influence circle, the leading vehicle has local scheduling guidance capability, and when the state of the leading vehicle is unstable or the behavior is abnormal, the control right is transferred to the auxiliary control vehicle; according to the method, the traffic environment guidance domain with the potential gradient is constructed through the traffic constraint weight value issued by the RSU, and the vehicles can autonomously perform formation aggregation and array sorting based on the local weight change trend.

The invention discloses a cooperative control method for a heavy haul railway long and large combination train based on a coupler force closed loop in order to solve the problem that operation safety is threatened due to unstability and breakage of a coupler caused by overlarge longitudinal impact force in the traction braking process of the long and large marshalling train. According to the method, coupler force is introduced into a control system of a locomotive to form a unit train coupler force closed-loop control system in a marshalling train, and traditional locomotive control is changed into train control. According to the method, the purpose of minimizing coupler force of slave control locomotives and front locomotives in a group is achieved, a distributed cooperative control strategy is adopted for unit trains in the group, the purpose of equivalently decomposing the long and large heavy-load combined train into unit trains running independently is achieved with the fact that stress of front coupler of each slave control locomotive is almost zero. And automatic driving operation of the unit trains in the marshalling is realized. By recognizing the stress change trend of the couplers and adopting a coupler force closed-loop active control mode, the overlarge impact force of the train couplers is relieved, and the running safety of the whole heavy-load train is guaranteed.

The invention provides a method and a device for controlling and testing formation driving of autonomous vehicles. The method comprises the following steps: acquiring current scene features based on a sensing device configured on a road side unit and / or an autonomous vehicle; the current scene feature is matched with a preset scene library, target formation control information is obtained, the preset scene library stores a mapping relation between multiple groups of scene features and formation control information, and the target formation control information comprises pilot vehicle control information and control information corresponding to at least one following vehicle; and based on the target formation control information, controlling the leading vehicle and the following vehicle to perform formation driving. According to the method and the device, the formation scene of the automatic driving vehicles in multiple scenes such as expressways is introduced, the problems of scattered test organization and limited scene coverage in the traditional road test are solved, multi-source heterogeneous sensing fusion dynamic correction can be constructed, and the formation cooperative control of the automatic driving vehicles in the high-speed environment is realized; the problem of perception degradation caused by failure of a single sensor is solved.

The embodiments of the present application relate to autonomous mobile apparatuses. Provided are a multi-apparatus cooperative control method, apparatus and system, and a storage medium. The method comprises: in response to being determined as a lead vehicle of a platoon and receiving a cooperative task, planning a task trajectory on the basis of the cooperative task, wherein the platoon comprises one lead vehicle and at least one following vehicle; publishing the task trajectory and an execution starting time of the cooperative task to the at least one following vehicle, such that the at least one following vehicle plans their respective following trajectories on the basis of the task trajectory, and executes the respective following trajectories upon reaching the execution starting time of the task trajectory; and executing the task trajectory upon reaching the execution starting time of the task trajectory, such that the lead vehicle and the at least one following vehicle maintain platoon synchronization for task execution. Therefore, a cooperative operation with a plurality of apparatuses integrated into a whole is realized, thereby expanding the application scenarios of cooperative collaboration of the plurality of apparatuses.

The invention discloses an automatic driving processing method and device based on an intelligent automobile, a terminal and a medium, and relates to the technical field of intelligent automobile automatic driving, and the method comprises the steps: controlling real-time monitoring of surrounding environment data when it is detected that the automobile completes path planning and starts an intelligent driving mode; performing communication handshake with surrounding vehicles within a preset distance range during driving, and negotiating to enter an intelligent driving joint mode when detecting that paths are overlapped; when the vehicle agrees to enter the joint mode, the intelligent vehicle is controlled to enter a running accompanying mode, and front and rear vehicles are controlled to keep the same speed and share sensor data; in the running accompanying mode, the front and rear vehicles share sensor data and synchronously advance by keeping a safe vehicle distance together; if the current automobile detects that the abnormal situation needs to be avoided, the running-accompanying intelligent automobile is controlled to synchronously complete the avoidance action; and when the rear vehicle detects that an abnormal vehicle overspeeds and approaches, the running-accompanying intelligent vehicle is controlled to synchronously accelerate and avoid. The method has the advantages that the multi-vehicle cooperation efficiency is improved, and the road safety is enhanced.

The invention discloses a driving capability improvement control method and system for an unmanned vehicle. The method comprises the step of realizing road condition perception and tire pressure optimization through vehicle cloud cooperation. A front vehicle collects road surface data and uploads the road surface data to a cloud server after preprocessing, and the server carries out aggregation analysis and constructs and updates a road surface state map. The rear vehicle requests road condition data, verification is carried out, remote data and local data are fused after weight distribution, and road surface state estimation is generated. And calculating a road surface friction coefficient and a weather influence factor based on the fused data, processing tire temperature data, monitoring a load-carrying vehicle speed, formulating an adjusting strategy, and carrying out modeling solving to obtain the optimal tire pressure. And an adjusting strategy is generated according to the optimal tire pressure, differential tire pressure control is implemented, adjustment is executed through closed-loop and predictive control, the effect is monitored in real time, and data are uploaded to a cloud optimization system. The control stability and trafficability of the vehicle under complex road conditions are effectively improved, and driving safety and riding comfort are guaranteed.

A system and method for generating a guidance path for automated navigation of large agricultural equipment. Vehicle path data from leading vehicles can be recorded, stored or inputted into the system for generation of guidance paths offset from the swaths traversed by the leading vehicle. Combines, planters sprayers and other vehicles utilizing guidance system can be used to record leading vehicle data for use by the following vehicle in real time or in subsequent cycles. Enterprise systems can manage multiple grain carts and / or combines or other vehicles to maximize efficiency.

In response to an initiation of a lane-change, a speed of a host vehicle in a current lane can be adjusted to establish a forward longitudinal distance from a lead vehicle in a target lane. The host vehicle is then moved from a first lateral position to a second lateral position in the current lane based on determining that a rear longitudinal distance of the host vehicle from a trailing vehicle in the target lane is less than a rear distance threshold, and then the host vehicle is additionally moved from the second lateral position to a third lateral position in the current lane based on determining that the rear longitudinal distance is increasing. When the forward longitudinal distance exceeds a forward distance threshold and the rear longitudinal distance exceeds the rear distance threshold, the vehicle is moved from the current lane to the target lane.

The invention relates to the technical field of vehicle control, in particular to a vehicle queue optimal control method and system based on a function deviation triggering mechanism, and the method comprises the steps: 1, constructing a piloting dynamics model of a piloting vehicle and a following dynamics model of a following vehicle; 2, defining a local tracking error of the ith following vehicle, defining control input of the following dynamical model as a function of the local tracking error according to an optimal control target, further defining an optimal value function, and determining optimal control input according to the optimal value function; 3, obtaining an optimal value function estimation value through an adaptive commentator neural network; 4, designing a function deviation triggering mechanism according to the optimal value function estimation value and the local tracking error so as to dynamically adjust the optimal control input of the following dynamical model; and 5, setting a communication association relationship and an initial state of the leading vehicle and the following vehicle to obtain a queue control result. According to the invention, efficient cooperative driving in a complex dynamic environment is realized.

A multi-vehicle control system (MVCS) for control of a multi-vehicle system having independently powered and steered lead and trailer vehicles connected by a slidable length sensing tow bar system. The MVCS includes a controller configured to receive throttle, brake, and steering signals from the lead vehicle, receive signals from the tow bar system indicating an extension length of the tow bar system, a front angle deviation of the lead vehicle, and a rear angle deviation of the trailer vehicle. The controller is further configured to determine, based on the received signals, a trailer vehicle acceleration / deceleration output and a trailer vehicle steering output, determine a driving scenario of the multi-vehicle system, and operate the multi-vehicle system based on the determined driving scenario and the determined trailer vehicle acceleration / deceleration output and trailer vehicle steering output.

The invention relates to a safety constraint vehicle formation distributed sliding mode control method based on a preset performance function. Compared with the prior art, the defect that vehicle formation control is difficult to meet safety constraint, preset performance and distributed cooperative control at the same time is overcome. The method comprises the following steps: establishing a vehicle formation three-order state space model; generating a following vehicle smooth reference trajectory; a preset performance constraint of the following vehicle is designed; calculating the expected speed of the following vehicle; calculating the expected torque of the following vehicle; a following vehicle driving system is controlled; and formation cooperative control is realized. According to the invention, through a reference generation mechanism of constraint perception, a preset performance function with a self-adaptive boundary and a topological structured reaching law, high-performance tracking of the track of the pilot vehicle is realized on the premise of ensuring that all following vehicles meet the time-varying safety boundary.

The invention discloses an intelligent network connection vehicle formation distributed cooperative control method, system and device based on mode switching, a vehicle driving mode is divided into a single vehicle cruising mode and a formation following mode, and in the single vehicle cruising mode, a driving risk field model and model prediction control are utilized to enable a vehicle to move along a risk minimum path; and in the formation following mode, the safe distance between each vehicle and the front vehicle is kept through distributed model prediction control, and stable following motion is realized. Meanwhile, a state set is constructed in combination with a sensor and the Internet of Vehicles, the collision risk of adjacent lanes is detected in real time based on risk assessment of a fuzzy theory, and when the risk reaches a threshold value, the vehicle is converted from following to single vehicle cruising; after the queue is divided into two sub-queues, the front pilot car generates an attraction potential field to the rear pilot car, the two sub-queues gradually approach each other, and when the following condition is met, the rear pilot car is converted from single car cruising to formation following. And finally, based on a finite-state machine thought, a cooperative control system is constructed to flexibly adjust the driving mode.

An autonomous vehicle may include one or more sensors configured to detect at least one vehicle, memory, and a processor. The processor may be configured to set a lead vehicle, of the at least one vehicle, as a target vehicle. The lead vehicle may be traveling ahead of the vehicle. The processor may be further configured to: receive, via the one or more sensors, driving information associated with the target vehicle; determine, based on the driving information and a predetermined cut-out condition, a likelihood of the target vehicle cutting out of a lane; and control, based on the determined likelihood, the vehicle to operate in a safety control mode of a plurality of safety control modes.

Systems, methods, and other embodiments described herein relate to improving passenger compartment air quality in a vehicle. In one embodiment, a method includes, responsive to acquiring sensor data that includes at least air quality information about a surrounding environment of an ego vehicle, analyzing the sensor data to determine whether the air quality information satisfies an action threshold specifying that air around the ego vehicle is of a poor quality. The method includes identifying a source of the air having the poor quality, including whether a leading vehicle in front of the ego vehicle is the source. The method includes generating a response to the air having the poor quality according to the source. The method includes controlling the ego vehicle according to the response.

Platoons of vehicles are operated remotely by a teleoperator. A lead vehicle of a platoon establishes communications with a teleoperator station, which receives drive state data from the lead vehicle and generates reference instructions for the lead vehicle. When a lead vehicle is under control of a teleoperator, and a follower vehicle joins a platoon with the lead vehicle, the follower vehicle receives drive state data from the lead vehicle and reference instructions for the lead vehicle from the teleoperator station. The follower vehicle captures data regarding its own drive state, and generates instructions based on the drive state data of the lead vehicle and the reference instructions for the lead vehicle. Drive state data of a lead vehicle of a platoon may be estimated, augmented or refined for accuracy based on drive state data of other vehicles of the platoon.

Autonomous traffic navigation optimization (e.g., using a computerized tool) is enabled. For example, a system can comprise a memory that stores computer executable components, and a processor that executes the computer executable components stored in the memory, wherein the computer executable components comprise a communication component that, using a defined vehicle communication protocol, receives leading vehicle telemetry data applicable to a leading vehicle, wherein the leading vehicle is ahead of a trailing vehicle, and an autonomous driving component that, based on the leading vehicle telemetry data, autonomously controls movement of the trailing vehicle to follow the leading vehicle while maintaining a threshold distance between the trailing vehicle and leading vehicle.

The invention provides a wireless communication method based on a cellular Internet of Vehicles technology, a communication terminal and a vehicle, and relates to the technical field of vehicle communication. The method comprises the following steps: adding a first vehicle-mounted communication terminal and a second vehicle-mounted communication terminal of a target following vehicle in preset formation vehicles to a communication network of a target multicast group, and generating a target multicast routing table, so that a leading vehicle adopts a multicast communication mode, the multicast data can be sent to the second vehicle-mounted communication terminal of each target following vehicle in a targeted manner through the first vehicle-mounted communication terminal, so that the data is prevented from being sent to other vehicles. Due to the adoption of the multicast communication mode, the vehicle-mounted communication terminal of any vehicle in the target multicast group sends the multicast data, and the vehicle-mounted communication terminals of the other vehicles can receive the multicast data, so that unnecessary repeated transmission is avoided, the risk of network congestion is remarkably reduced, the information spreading efficiency is improved, and the user experience is improved. And meanwhile, all target following vehicles can receive the latest instruction in time, and synchronization and stability of a motorcade are maintained.

The invention discloses a vehicle following control method and system, a vehicle and equipment. The vehicle following control method of the vehicle comprises the steps that driving information of a front vehicle and a future track of the front vehicle are obtained; according to the driving information and the future trajectory of the preceding vehicle, obtaining a planned reference line when the vehicle follows the preceding vehicle; according to the planning reference line, an s-t graph projection of the position of the front vehicle changing along with time is obtained; and according to a set vehicle following strategy and the s-t graph projection of the front vehicle, determining a vehicle following speed curve of the vehicle. By the adoption of the method and device, the response speed of speed control during car following after automatic driving is improved, the shorter car following distance is achieved, and the safety and car following efficiency of the automatic driving car are improved.

A trailer platform system with independent propulsion and control includes a steerable first axle connected to a pair of first wheels, a second axle connected to a pair of second wheels, and at least one electric traction motor configured to drive the steerable first axle and / or the second axle. A high voltage battery system is configured to power the at least one electric traction motor. A load platform is supported by a chassis and a suspension, wherein the load platform is a wagon-style platform with the first and second wheels located at the four corners of the load platform. A lead vehicle hitch connection is configured to removably couple to a lead vehicle.

An electronic device for platooning of vehicles may identify first information related to a first formation, obtain second information related to whether at least a portion of a second lane, which is distinct from the first lane, is unoccupied, determine a second formation based on the second information, distinguish the vehicles into a first group of vehicles including a leading vehicle and a second group of vehicles including only following vehicles, based on the second formation, and transmit a signal to the following vehicles included in the second group of vehicles to move the second group of vehicles to the second lane.

The invention provides a two-dimensional formation composite sliding mode control method under an explicit convergence time limit, and relates to the technical field of automatic driving cooperative control. The method comprises the following steps: firstly, acquiring real-time motion state information of a pilot vehicle and N following vehicles, and establishing a third-order nonlinear dynamic model of each following vehicle; calculating a tracking error of the following vehicle based on the virtual vehicle strategy; dynamically processing the predetermined performance constraints; constructing a composite finite time sliding mode surface of a layered structure, and determining a total execution time limit required by convergence of all monitoring signals in the two-dimensional vehicle formation control system from an initial deviation state to a predefined steady state region; and finally, on the basis of the composite finite time sliding mode surface, an external disturbance boundary is estimated online in combination with an adaptive control algorithm, a control instruction is generated, and a monitoring signal is forced to reach a steady state in an explicit time upper boundary. The method provides a visual performance estimation means for practical engineering application, and improves the stability, rapidity and accuracy of two-dimensional formation control.

Platoons of vehicles are operated remotely by a teleoperator. A lead vehicle of a platoon establishes communications with a teleoperator station, which receives drive state data from the lead vehicle and generates reference instructions for the lead vehicle. When a lead vehicle is under control of a teleoperator, and a follower vehicle joins a platoon with the lead vehicle, the follower vehicle receives drive state data from the lead vehicle and reference instructions for the lead vehicle from the teleoperator station. The follower vehicle captures data regarding its own drive state, and generates instructions based on the drive state data of the lead vehicle and the reference instructions for the lead vehicle. Drive state data of a lead vehicle of a platoon may be estimated, augmented or refined for accuracy based on drive state data of other vehicles of the platoon.

A target gear stage of the automatic transmission of the own vehicle (following vehicle) is determined based on the target acceleration (=required drive torque) and the target vehicle speed of the leading vehicle by the convoy participation time speed change control unit, and when the target gear stage and the actual gear stage of the own vehicle are different, the gear stage of the automatic transmission of the own vehicle is switched to the target gear stage in advance. Thus, the speed change of the following vehicle participating in the convoy traveling can be executed in advance on the gear stage for obtaining the driving force for following the leading vehicle, and disturbance of the convoy traveling is suppressed.

Systems and methods for validating following distance detection models are discussed. A LIDAR unit and an image capture device are installed at a vehicle. LIDAR data from the LIDAR unit is used to identify a lead vehicle and for determination of a true following distance to the lead vehicle. An image-based following distance detection model is applied on image data captured by the image capture device. Following distance as determined by the image-based following distance model is compared to the true distance from the LIDAR data, to assess validity of the image-based following distance model.

The invention relates to the field of heterogeneous vehicle queue cooperative control, in particular to a reinforcement learning-based heterogeneous vehicle queue ecological cooperative control method, which comprises the steps of establishing a heterogeneous vehicle queue model, performing leading vehicle control based on a PID (Proportion Integration Differentiation) controller, performing following vehicle control based on reinforcement learning and the like. According to the cooperative control method based on reinforcement learning, the control strategy is dynamically optimized according to the dynamic difference of heterogeneous vehicles, and the stability and the response precision of the queue are improved; energy consumption is introduced into a learning process as a reward item, so that energy management is optimized in each control step, energy efficiency optimization of a vehicle queue is ensured, and the overall economy and cruising ability of the vehicle queue are improved; and in combination with the dynamic adjustment capability of reinforcement learning, the vehicle can adapt to different driving scenes and road condition changes, and the adaptability of the system to various driving working conditions and dynamic road conditions is improved.

To enable safe initiation of a shuttle operation in an automatic train operation device that uses a point transmission / reception system using a ground element.SOLUTION: An ATO onboard device 10, which is an automatic train operation device installed on a tail-end vehicle 3 of an organized train, sets whether the tail-end vehicle 3 is a leading vehicle or a trailing vehicle, generates an operation pattern that stops at an outer stop position of a departure signal and starts automatic operation control when the tail-end vehicle is switched to the leading vehicle from the trailing vehicle, and updates the operation pattern to an operation pattern that passes through the outer stop position when information satisfies a predetermined display condition indicating that the display correspondence information included in ground element information received from a ground element is a display that permits passage.SELECTED DRAWING: Figure 1

The present application relates to the technical field of display, especially to a dual-view mini LED vehicle-mounted display device and a control method thereof.The dual-view mini LED vehicle-mounted display device comprises a main frame, a first view backlight assembly and a second view backlight assembly.The main frame comprises an upper glue shell, an inner glue frame, a middle glue shell and a lower frame.The middle glue shell is connected with the lower frame, the upper glue shell is connected with the middle glue shell, and the inner glue frame is connected with the bottom of the lower frame.The first view backlight assembly comprises a first light source assembly, which is arranged on one inner side wall of the lower frame.The second view backlight assembly comprises a second light source assembly and a view angle suppression piece, which is located on one side of the second light source assembly in the light emitting direction.The view angle suppression piece is located on the side of the first view backlight assembly opposite to the light emitting direction.The present application can be conveniently and quickly switched between two different view angles.