239 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 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 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.

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.

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.

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.

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 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.

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.

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.

A method for automated vehicle driving control in a platoon includes obtaining first operational parameters of a first vehicle, including at least a first measured braking performance of the first vehicle, obtaining second operational parameters of a second vehicle, including at least a first measured braking performance of the second vehicle, determining a platoon sequence according to the operational parameters by assigning whichever of the first vehicle and the second vehicle that has a lesser measured braking performance as a lead vehicle in the platoon sequence, and assigning the other of the first vehicle and the second vehicle as a follower vehicle in the platoon sequence, initiating a platoon sequence driving route, and controlling automated driving of the follower vehicle according to tracking of the lead vehicle, wherein the automated driving includes automated steering control, automated acceleration and automated braking based on tracked movement of the lead vehicle.

The present invention relates to a method for operating at least partially automated trailing vehicle (2) by adjusting the distance between a leading vehicle (10) and a trailing vehicle (2). The leading vehicle (10) is optically indicated by the trailing vehicle (2), for example through a light spot (12), according to the distance adjustment.

The image in this application is an image for inspecting the vehicle equipment of a railway vehicle, and is used, for example, to check the operation of the vehicle equipment. A railway vehicle inspection system checks the operation of the vehicle equipment installed in intermediate cars (with two bogies) that do not have a cab, among the vehicle equipment controlled by the cab of the lead vehicle. The inspection system includes a temporary cab that simulates the function of the cab and is electrically connected to the vehicle equipment of the intermediate cars, and a controller that remotely controls the temporary cab via wireless communication. The image in this application is displayed on the controller and is of the touch panel type. The powering handle on the right of the image is used to gradually accelerate the vehicle, and the brake setting device on the left is used to gradually stop the vehicle. As an example, when operating the brake setting device on the touch panel, operating the controller at each bogie's location can confirm that the brakes on each bogie are operating normally.

The present disclosure relates to an autonomous driving control apparatus and a control method thereof. An autonomous driving control apparatus may include a sensor device, a communication device, one or more processors, and memory. The sensor device may detect a leading vehicle of a host vehicle. The communication device may receive, from the leading vehicle, vehicle information of the leading vehicle. The autonomous driving control apparatus may, based on a deceleration request of the host vehicle, operate in an excessive deceleration limit mode; determine, based on the vehicle information of the leading vehicle, a speed control signal for changing a vehicle speed of the leading vehicle; and adjust, based on the speed control signal and while operating in the excessive deceleration limit mode, an excessive deceleration limit level of the host vehicle.

The invention discloses a fuel economy and comfort-oriented heterogeneous vehicle queue cooperative cruise control method, which comprises the following steps of: establishing a three-order discrete time state-space equation of a vehicle, and constructing a model prediction control optimization model of a leading vehicle in a heterogeneous vehicle queue based on the three-order discrete time state-space equation of the vehicle; solving the model prediction control optimization model to obtain the optimal control input of the leader vehicle; constructing a distributed linear feedback control protocol and solving through a discrete system frequency domain analysis method to obtain a control gain for ensuring the internal stability and string stability of a vehicle queue; and obtaining control input of the following vehicle according to the control gain, and realizing heterogeneous vehicle queue cooperative cruise control based on the control input of the following vehicle and the optimal control input of the leader vehicle. By optimizing the control strategy, the fuel economy and riding comfort of the heterogeneous vehicle queue are remarkably improved, and meanwhile the stability and safety of the vehicle queue are guaranteed.

Disclosed are an intelligent warning method, an intelligent warning system, and an intelligent taillight device based on motor vehicle taillights. The method includes: monitoring, in real-time, a current speed of a motor vehicle, a speed of a leading vehicle, and a speed of a following vehicle, and providing feedback to a preset main control module; acquiring, through the main control module, a real-time distance between the motor vehicle and the following vehicle to obtain a following vehicle distance, and a real-time distance between the motor vehicle and the leading vehicle to obtain and a leading vehicle distance; controlling, by the main control module, a first projection module integrated in the motor vehicle taillight and a second projection module installed at a rear of the motor vehicle to project on a road surface in response to that a preset projection condition is met.

The invention relates to a method for teleoperated control of a platooning-based moving vehicle convoy (2) with several vehicles, comprising the steps: - Providing at least one control command for the vehicle convoy (2) by a teleoperation station (3) with a teleoperator (6); - Transmitting the control command to a lead vehicle (4) of the vehicle column (2); - remote control of the command vehicle (4) based on the transmitted control command; - Acquiring environmental information concerning the surroundings of the vehicle convoy (2); - Determining an execution situation of the control command for a following vehicle (5) of the vehicle convoy (2) that differs from the lead vehicle (4) depending on the acquired environmental information; and - Controlling the following vehicle (5) with the control command depending on the specific execution situation.

The utility model relates to the technical field of automobile lamps, in particular to an irradiation-adjustable LED automobile lamp which comprises an automobile lamp shell, a lampshade body arranged on the automobile lamp shell, a mounting plate arranged in the automobile lamp shell and an LED lamp body, a bearing plate is arranged on the mounting plate, an arc-shaped groove is formed in the bearing plate, and the LED lamp body is arranged in the arc-shaped groove. A driving plate of an arc-shaped structure is slidably arranged in the arc-shaped groove, the LED lamp body is arranged on the upper surface of the driving plate, a rack and a driving assembly meshed with the rack are arranged on the rear end face of the driving plate, a guiding follow-up assembly is arranged on the front end face of the driving plate, and the driving assembly drives the driving plate to reciprocate along the arc-shaped groove. The irradiation area of the automobile lamp can be adjusted, the visual area of a driver is enlarged under some special road conditions, and danger is prevented.

To improve the accuracy of determining a preceding vehicle ahead of the host vehicle, using map data in which road shapes are expressed in road units by arrangement of a plurality of nodes.SOLUTION: A controller 16 detects a mobile object that moves ahead of a host vehicle 1 in the same direction as the host vehicle, extracts from map data 12 an opposite road shape 31 that represents the road shape of an opposite road to the road on which an opposite vehicle to the host vehicle 1 travels, parallel shifts the opposite road shape 31 so that a point on the opposite road shape 31 near the vehicle position matches the vehicle position, and determines whether or not the mobile object is a preceding vehicle ahead of the host vehicle, on the basis of the degree of deviation in the road width direction between the mobile object and the opposite road shape 32 after parallel shifting.SELECTED DRAWING: Figure 2

This invention relates to the field of mining area traffic planning and discloses a method for planning vehicle speed in mining areas that integrates AI algorithms and multimodal data. The method includes the following steps: S1, determining that the current vehicle is in a following state and collecting the current vehicle's driving parameters, the position of the leading vehicle, and the distance between the two vehicles; S2, based on the positions of the current vehicle and the leading vehicle, determining whether the leading vehicle is traveling on a slope or about to leave the slope; S3, if the leading vehicle is on a slope or about to leave the slope, determining a safe following distance based on the distance between the two vehicles and the leading vehicle's slope travel distance; S4, planning the current vehicle's driving speed. This invention identifies vehicle following patterns and collects multimodal data in real time and comprehensively. It utilizes AI algorithms to perform high-precision perception and forward-looking prediction of the leading vehicle's slope travel status, enabling the solution to fully understand the complex terrain environment currently and in the future, thus allowing for pre-emptive risk assessment.

This invention provides a feedback tracking control method based on scalarized visual frame pixels. First, a dynamic state-space model of a vehicle following system is established and the system state variables are determined. Then, a state feedback tracking controller is designed for the dynamic state-space model. The original image of the leading vehicle is acquired and input into an image signal synthesizer. After processing by the image signal synthesizer, a background image and a standard image are obtained. Next, a binarized digital image pixel mask method is used to scalarize the high-dimensional features of the original image, background image, and standard image of the leading vehicle to obtain the number of pixels of the leading vehicle and the image error, which has an implicit functional relationship with the system state variables. Finally, based on the functional relationship between the image error and the system state variables, the image error is directly fed back to the state feedback tracking controller to control the throttle of the following vehicle, achieving fixed-distance following control.

This invention discloses a privacy-preserving dynamic vehicle platooning management method and system, comprising: a lead vehicle broadcasting a vehicle platooning recruitment message and transmitting the message to cloud server A; simultaneously, member vehicles generating request messages containing location information and digital signatures, which are forwarded to cloud server A via roadside units (RSUs); cloud server A, with the assistance of cloud server B, calculating the encrypted spatial distance between the lead vehicle and the requesting vehicle using the encrypted Manhattan distance calculation method, and finally outputting a trusted vehicle platooning decision; after the platooning trip is completed, member vehicles generating feedback scores and digital signatures, which are sent to cloud server A via roadside units (RSUs); cloud server A sending aggregated reputation encrypted messages to a trusted authority; and calculating the new reputation value of the lead vehicle from the aggregated reputation encrypted messages received from cloud server A. Using the technical solution of this invention, dynamic platoon disbanding in platooning management is achieved, while effectively protecting privacy and resisting various attacks.

The driving support device includes a line of sight detection unit that detects a line of sight of an occupant of the first following vehicle on the oncoming lane, a moving person estimation unit that estimates whether or not there is a possibility of a crossing moving person being present around the leading vehicle based on the detected line of sight, and a driving support unit that performs deceleration control of the host vehicle and the like when it is estimated that there is a possibility of a crossing moving person being present.

The application discloses an abnormal driving behavior recognition method and system based on multi-modal data fusion, and particularly relates to the technical field of multi-vehicle cooperative driving safety control, and is used for solving the problem that the existing cooperative driving system cannot convert the abnormal behavior risk of a driver into a cooperative control instruction at the vehicle fleet level; the abnormal state of the driver is recognized by collecting and fusing multi-modal sensor data of the vehicle; when the vehicle is a lead vehicle of a vehicle fleet, the comprehensive risk of the abnormal state to the safety of the vehicle fleet is evaluated based on the abnormal state through probabilistic evolution simulation; the expected effect of different vehicle fleet control strategies is simulated according to the risk evaluation result, and the best strategy is selected; vehicle fleet risk information containing the strategy is generated and sent to all following vehicles through vehicle-to-vehicle communication; the whole process from single-vehicle driver state monitoring to vehicle fleet level cooperative risk prevention and control is realized, and the overall safety of the vehicle fleet system is improved.

The application belongs to the technical field of industrial process control and vehicle networking cooperative control, and discloses a vehicle networking cooperative vehicle fleet self-triggered formation control method under denial of service attack conditions, which comprises the following steps: constructing a state space equation of cooperative vehicles, and obtaining expected formation states and actual states of a leading vehicle and a following vehicle; step 2, modeling possible denial of service attacks in vehicle networking; step 3, designing a self-triggered control update strategy for each following vehicle in a time interval in which communication is normal and the communication topology of the fleet remains connected; step 4, based on steps 1, 2 and 3, constructing a fleet consistency controller, and under the condition that the denial of service attack satisfies the frequency and duration constraint conditions, the fleet system meets the control requirements. The application reduces the communication and calculation burden of the fleet, improves the safety and robustness of the system under the conditions of communication attack, limited bandwidth and unstable network, and is suitable for cooperative fleet formation control scenes under various vehicle networking topological structures.

The vehicle control device includes: a target torque calculation unit that calculates a first target torque that causes the vehicle-to-vehicle distance to change from a leading vehicle to a following vehicle; a torque recording unit that records the actual torque generated based on the first target torque until the vehicle-to-vehicle distance reaches a specific vehicle-to-vehicle distance between the following vehicle and the leading vehicle; and a distance setting unit that sets the corresponding vehicle-to-vehicle distance as the vehicle-to-vehicle distance corresponding to a value in the recorded actual torque that is within a specific range including the minimum value.

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.