CN114384898A - Queue driving decision-making system and method - Google Patents

Abstract

A queue driving decision-making system and method, applied to a team, the system includes a rear vehicle control device and a front vehicle control device, when the rear vehicle control device detects a queue interruption event, it outputs a rear vehicle deceleration command to the rear vehicle. The rear vehicle controls the rear vehicle to decelerate, and wirelessly transmits a queue cut notification and a rear vehicle deceleration notification; when the rear vehicle control device establishes a connection with the front vehicle control device, the front vehicle control device receives from the rear vehicle control device. The queue-cut notification and the rear-vehicle deceleration notification, according to the queue-cut notification, output a preceding vehicle acceleration command to the preceding vehicle to control the preceding vehicle's acceleration, and wirelessly transmit a preceding vehicle's acceleration notification to the rear-vehicle control device; The control device detects that the queue-cutting event has been eliminated, and controls the rear vehicle to accelerate and the preceding vehicle to decelerate respectively, so as to maintain the platoon.

Description

Platoon driving decision-making system and method

technical field

The present invention relates to an automatic driving decision-making system and method, in particular to a platoon driving decision-making system and method.

Background technique

An automated fleet generally includes multiple vehicles, each of which has the function of automatic assisted driving or automatic driving. For example, a preceding vehicle and a rear vehicle are adjacent to each other. The rear vehicle follows the preceding vehicle according to a following condition. At the rear of the vehicle, the following condition can be a comparison information of a following vehicle speed and a following distance. When the following vehicle speed is faster, the following vehicle distance is longer.

However, on the actual road, in addition to the convoy, there are other outside cars driven by humans, and there is a gap between the car in front and the car behind. Considering that there are drivers on the road who will drill and overtake, when there is a car that is not part of the convoy An outside car is inserted between the preceding car and the rear car, causing the rear car to be too close to the outside car, and the preceding car to be too close to the outside car, and neither of the outside cars to the front and rear cars of the convoy Maintain a safe distance and increase the risk of traffic accidents in the fleet.

SUMMARY OF THE INVENTION

In view of this, the main purpose of the present invention is to provide a platoon driving decision-making system and method to cope with the situation that the platoon is interrupted by an outside vehicle.

The platoon driving decision-making system of the present invention is provided for use in a team, and the team includes a rear car and a preceding car, and the platoon driving decision-making system includes:

A rear vehicle control device is arranged on the rear vehicle to control the rear vehicle to follow the preceding vehicle. When the rear vehicle control device detects a queue interruption event, it outputs a rear vehicle deceleration command to the rear vehicle to control the rear vehicle. The car slows down, and wirelessly transmits a queue cut notice and a rear car deceleration notice;

A preceding vehicle control device is arranged on the preceding vehicle. When the rear vehicle control device establishes a connection with the preceding vehicle control device, the preceding vehicle control device receives the queue interruption notification transmitted by the rear vehicle control device and decelerates the rear vehicle. Notify, output a preceding vehicle acceleration command to the preceding vehicle to control the preceding vehicle acceleration according to the queue cut notification, and wirelessly transmit a preceding vehicle acceleration notification to the rear vehicle control device;

When the rear-vehicle control device detects that the queue-cutting event has been eliminated, it outputs a rear-vehicle acceleration command to the rear-vehicle to control the acceleration of the rear-vehicle, and wirelessly transmits a queue-cutting exclusion notification and a rear-vehicle acceleration notification to the front-vehicle controller The preceding vehicle control device outputs a preceding vehicle deceleration command to the preceding vehicle according to the queue exclusion notification to control the preceding vehicle to decelerate, and wirelessly transmits a preceding vehicle deceleration notification to the rear vehicle control device.

The platoon driving decision-making method of the present invention includes:

Controlling a rear vehicle to follow a vehicle behind a preceding vehicle according to a following condition through a rear vehicle control device;

Whether there is a queue interruption event is detected by the rear vehicle control device, and if so, the rear vehicle control device outputs a rear vehicle deceleration command to the rear vehicle to control the rear vehicle to decelerate, and wirelessly transmits a queue interruption notification and a rear vehicle deceleration notification;

When the rear-vehicle control device establishes a connection with a preceding-vehicle control device disposed on the preceding vehicle, the preceding-vehicle control device receives the queue-cut notification and the rear-vehicle deceleration notification, and outputs a preceding-vehicle acceleration command according to the queue-cut notification control the acceleration of the preceding vehicle to the preceding vehicle, and wirelessly transmit a preceding vehicle acceleration notification to the rear vehicle control device;

It is detected by the rear vehicle control device whether the queue interruption event has been eliminated, if so, the rear vehicle control device outputs a rear vehicle acceleration command to the rear vehicle to control the acceleration of the rear vehicle, and wirelessly transmits a queue exclusion notification and a rear vehicle notification of acceleration to the preceding vehicle control device;

When a connection is established between the rear vehicle control device and the preceding vehicle control device, the preceding vehicle control device outputs a preceding vehicle deceleration command to the preceding vehicle to control the preceding vehicle to decelerate according to the queue exclusion notification, and wirelessly transmits a preceding vehicle deceleration Notify the rear vehicle control device.

According to the queuing driving decision-making system and method of the present invention, when the rear-vehicle control device detects the queue-cutting event, it means that there may be an outside vehicle merging between the preceding vehicle and the rear-vehicle, so according to the detection of the queue-cutting event , the rear-vehicle control device controls the rear-vehicle to decelerate; in addition, for the preceding vehicle, when the road conditions permit, for example, when the front lane of the preceding vehicle is clear, the preceding-vehicle control device controls the preceding vehicle to accelerate, Thereby, the distance between the front car and the rear car is properly widened, so that the outer car can be inserted between the rear car and the front car, so as to prevent the rear car from colliding with the outer car and avoid the outer car. Chase the car in front. And when the outside car leaves, the platoon is restored to a stable platoon by the deceleration of the preceding car and the acceleration of the rear car. To sum up, the present invention can effectively cope with the situation that the team is interrupted by the outside vehicle. Specific embodiments of the present invention are described in detail below.

Description of drawings

Figure 1: In the embodiment of the present invention, it is applied to a schematic diagram of a convoy including a rear vehicle and a front vehicle.

FIG. 2 is a block schematic diagram of an embodiment of the platoon driving decision-making system of the present invention.

FIG. 3 is a schematic block diagram of the electrical connection between the rear vehicle control device and the various systems of the rear vehicle in the present invention.

Fig. 4: The flow chart of calculating the estimated distance between workshops according to the present invention.

Figure 5: A flow chart of an embodiment of the platoon driving decision-making method of the present invention.

Figure 6A: Schematic diagram of a fleet with outside vehicles inserted into the fleet.

Figure 6B: Schematic diagram of a fleet with outside cars inserted.

7A : a schematic diagram of the information flow sequence of the rear vehicle control device, the front vehicle control device and the background host in the present invention (the rear vehicle control device and the front vehicle control device are connected).

7B : a schematic diagram of the information flow sequence of the rear vehicle control device, the front vehicle control device and the background host in the present invention (the rear vehicle control device and the front vehicle control device are disconnected).

FIG. 8 is a schematic block diagram of the electrical connection between the preceding vehicle control device and each system of the preceding vehicle in the present invention.

Figure 9: Schematic of an outside car leaving the convoy.

Figure 10: In the present invention, the following vehicle control device implements acceleration/deceleration according to the estimated vehicle distance.

FIG. 11 is a schematic diagram of the data format of the preceding vehicle information packet in the present invention.

FIG. 12 is a schematic diagram of the information synchronization mechanism of the rear vehicle control device, the front vehicle control device and the background host in the present invention.

Detailed ways

The platoon driving decision-making system of the present invention is provided for use in a fleet. Generally speaking, the fleet includes a plurality of vehicles, and each vehicle has the function of automatic assisted driving or automatic driving. Therefore, please refer to FIG. 1 , the fleet includes at least one A front vehicle A and a rear vehicle B. It should be noted that the front vehicle A and the rear vehicle B in the present invention refer to two vehicles adjacent to the front and rear, and the rear vehicle B follows the rear of the front vehicle A. , the preceding vehicle A may be (but not limited to) the first vehicle of the team, and the rear vehicle B may be (but not limited to) the last vehicle of the team. In addition, the front vehicle A and the rear vehicle B are not limited to a gasoline-electric hybrid vehicle, an electric vehicle, or an oil-fueled vehicle using a gasoline engine or a diesel engine.

Referring to FIGS. 1 and 2 , an embodiment of the platoon driving decision-making system of the present invention includes a following vehicle control device 10 and a preceding vehicle control device 20 , or further includes a background host 30 . Regarding the basic driving of each vehicle, the following description only takes the rear vehicle B as an example, and the preceding vehicle A can be deduced by analogy. Please refer to FIG. 1 and FIG. 3 , the rear vehicle B generally includes a rear vehicle accelerator system 41 , a rear vehicle brake system 42 and a rear vehicle steering system 43 , and the rear vehicle accelerator system 41 is used to control the rear vehicle. When the vehicle B accelerates and decelerates, the rear brake system 42 is used to control the braking action of the rear vehicle B, and the rear vehicle direction system 43 is used to control the straight or steering angle of the rear vehicle B. The cooperative operation of the vehicle braking system 42 and the rear vehicle steering system 43 achieves the function of automatic assisted driving or automatic driving of the rear vehicle B. The rear-vehicle control device 10 of the present invention is signal-connected to the rear-vehicle accelerator system 41 , the rear-vehicle brake system 42 and the rear-vehicle steering system 43 to be responsible for their coordinated operation, so that the rear-vehicle B can drive stably and comply with a The following condition is to follow behind the preceding vehicle A.

The following is a detailed description of the connection structure, information acquisition, vehicle-to-vehicle estimated distance, rear-vehicle estimated coordinates, queue-cutting decision-making means and information synchronization mechanism between the rear-vehicle control device 10 and the preceding-vehicle control device 20 (or including the background host 30 ). described.

(1) Connection structure and information acquisition

The rear vehicle control device 10 can be an electronic control unit (Electronic Control Unit, ECU) or a trip computer, which can perform information calculation and vehicle following decision control functions. The rear vehicle control device 10 is arranged on the rear vehicle B and is connected with a signal A rear-vehicle communication device 11 , a rear-vehicle sensing device 12 , and a rear-vehicle information device 13 are disposed on the rear-vehicle B.

The rear-vehicle communication device 11 may include a rear-vehicle inter-vehicle communication module 110 or further include a rear-vehicle mobile communication module 111, and the rear-vehicle inter-vehicle communication module 110 realizes vehicle-to-vehicle communication (Vehicle-to-Vehicle). , V2V), the rear vehicle-to-vehicle communication module 110 can be (but not limited to) a dedicated short-range communication module (Dedicated ShortRange Communications, DSRC) or operate in the fourth generation mobile communication technology (4G), the fifth generation mobile communication technology (5G) or more advanced next-generation mobile communication technology, the rear-vehicle mobile communication module 111 realizes the communication (Vehicle-to-everything, V2X) between the vehicle and other devices, the rear-vehicle mobile communication module 111 It can operate on the fourth generation mobile communication technology (4G), the fifth generation mobile communication technology (5G) or the advanced next generation mobile communication technology. The rear-vehicle sensing device 12 is used to sense the surrounding environment information of the rear-vehicle B and the position of the rear-vehicle B. For example, please refer to FIG. 2 , the rear-vehicle sensing device 12 outputs a rear-vehicle sensing information D_rs, the rear vehicle sensing information D_rs may include, for example, a rear vehicle positioning coordinate, a front vehicle width, and a first relative distance. The relative distance sensing value between vehicle B and an object in front of the rear vehicle B, so in the case of normal following the vehicle, the object in front of the vehicle B is the preceding vehicle A, and the first relative distance is The relative distance sensing value between the following vehicle B and the preceding vehicle A. The rear vehicle information device 13 can be, for example, a diagnostic system (eg On-Board Diagnostics, OBD) of the rear vehicle B itself, a data bus (eg, a controller area network bus, CAN Bus) or an instrument system, etc. . Therefore, the rear-vehicle control device 10 of the present invention can retrieve a rear-vehicle own vehicle information D_rv of the rear-vehicle B from the rear-vehicle information device 13 , and the rear-vehicle own vehicle information D_rv may include, for example, a rear-vehicle addition or subtraction Speed, the speed of a rear vehicle and the steering angle of a rear vehicle...etc.

The front vehicle control device 20 can be analogized according to the rear vehicle control device 10 . The preceding vehicle sensing device 22 and a preceding vehicle information device 23 are provided. The preceding vehicle communication device 21 may include a preceding vehicle inter-vehicle communication module 210 or further include a preceding vehicle mobile communication module 211, the preceding vehicle sensing device 22 outputs a preceding vehicle sensing information D_fs, the preceding vehicle sensing information D_fs includes a preceding vehicle positioning coordinate and a second relative distance. The second relative distance refers to the relative distance between the preceding vehicle A and an object behind the preceding vehicle A when the position of the preceding vehicle A is taken as the starting point. The distance sensing value, so in the case of normal car following, the rear object of the preceding vehicle A is the rear vehicle B, and the second relative distance is the relative distance sensing between the preceding vehicle A and the rear vehicle B value. The preceding vehicle control device 20 may retrieve a preceding vehicle own vehicle information D_fv of the preceding vehicle A from the preceding vehicle information device 23 . The preceding vehicle own vehicle information D_fv may include, for example, a preceding vehicle acceleration and deceleration, a preceding vehicle speed With a preceding vehicle steering amount...etc.

In the foregoing, the rear vehicle sensing device 12 and the front vehicle sensing device 22 may each include a satellite positioning system, a three-dimensional optical radar (Three-Dimensional Light Detection And Ranging, 3D LiDAR), a two-dimensional optical radar (2D LiDAR), Camera, Real-Time Kinematic (RTK) and Inertial Measurement Unit (IMU), but not limited to this, so the rear vehicle sensing device 12 can generate the rear vehicle sensing information D_rs, and the rear vehicle sensing device 12 can generate the preceding vehicle sensing information D_fs.

When the rear-vehicle inter-vehicle communication module 110 establishes a connection with the front-vehicle inter-vehicle communication module 210, the rear-vehicle control device 10 can be connected with the front-vehicle control device 20 for bidirectional information flow, please refer to FIG. 2, The preceding vehicle control device 20 may periodically transmit a preceding vehicle information packet P_f to the following vehicle control device 10, and the transmission period may be, for example, 100 milliseconds (ms), and the content of the preceding vehicle information packet P_f may come from the preceding vehicle The sensing information D_fs and the preceding vehicle own vehicle information D_fv, for example, the preceding vehicle information packet P_f may include (but not limited to) the preceding vehicle positioning coordinates, the preceding vehicle speed, the preceding vehicle steering amount and the second relative distance. In this way, the following vehicle control device 10 can know the driving information of the preceding vehicle A, which can be used as a basis for the decision to follow.

As for the backend host 30, the backend host 30 may be a cloud server, which is respectively connected to the rear vehicle control device 10 and the front vehicle control device 20. For example, when the rear vehicle mobile communication module 111 and the The background host 30 establishes a connection (for example, through the Internet), and the rear vehicle control device 10 can conduct two-way information communication with the background host 30 through the rear vehicle mobile communication module 111; similarly, when the preceding vehicle mobile communication module The group 211 establishes a connection with the background host 30 (eg, through the Internet), and the preceding vehicle control device 20 can conduct bidirectional information communication with the background host 30 through the preceding vehicle mobile communication module 211 .

As mentioned above, in the embodiment of the present invention, the background host 30 is connected to the rear vehicle control device 10 and the front vehicle control device 20 , and there is also a connection between the rear vehicle control device 10 and the front vehicle control device 20 . Therefore, the information transmission method of the present invention has multiple parallel modes, that is, when the rear vehicle control device 10 and the front vehicle control device 20 exchange information with each other, the information can also be transmitted to the background host 30 at the same time. In the embodiment of the present invention, the rear vehicle control device 10 and the front vehicle control device 20 can use inter-vehicle communication as the main communication method; and when the inter-vehicle communication is disconnected, the rear vehicle control device 10 and the front vehicle control device 20 It is still possible to transfer information to each other through the background host 30, that is, to use the background host 30 as a medium for information transfer.

(2) Estimated distance of workshop

Generally speaking, please refer to FIG. 1 and FIG. 3 , the following vehicle control device 10 controls the following vehicle B to follow behind the preceding vehicle A according to a following condition 100 , and the following vehicle of the following vehicle control device 10 Condition 100 can be set as a preset comparison information of a following vehicle speed and a following distance, the relationship between the following vehicle speed and the following distance is a positive correlation, when the following vehicle speed is faster, the following vehicle The longer the distance, on the contrary, the slower the speed of the following vehicle, the shorter the following distance. The following vehicle control device 10 defines the following distance corresponding to the following condition 100 according to the current vehicle speed (ie, the following vehicle speed), and calculates a vehicle estimated distance (ie, estimates the following vehicle B and the vehicle B). The relative distance between the preceding vehicle A (explained as follows) is compared with the following distance of the following condition 100, so as to properly adjust the rear accelerator system 41 and the rear brake system 42 (or may further adjust the rear brake system 42). Vehicle direction system 43), so that when the following vehicle B is at a certain speed, the estimated distance between the vehicle and the vehicle conforms to the corresponding following distance in the following condition 100 . For example, when the vehicle-to-vehicle estimated distance is greater than the following distance of the following condition 100, it means that the distance between the rear vehicle B and the preceding vehicle A is too long, and the rear vehicle control device 10 can adjust the rear vehicle accelerator system 41 in order to accelerate the following vehicle B, thereby reducing the difference between the estimated vehicle-to-vehicle distance and the following distance of the following condition 100 .

In the process of the convoy traveling, because the preceding vehicle A and the rear vehicle B are traveling, the information transmission between the rear vehicle control device 10 and the preceding vehicle control device 20 and the information of the rear vehicle control device 10 The calculation also takes time to complete, so in order to prevent the rear vehicle control device 10 from implementing the current vehicle following decision only based on earlier information, in the embodiment of the present invention, the rear vehicle control device 10 further implements the vehicle-to-vehicle estimated distance ( D _RF ) calculation, the relative distance between the rear vehicle B and the preceding vehicle A is represented by the vehicle estimated distance (D _RF ), which will be described in detail later.

The rear vehicle control device 10 presets a time interval value Δt_seg, an allowable error range ΔE, a first weight value W ₁ , a second weight value W ₂ and a third weight value W ₃ according to the operation of the user, The relationship between the vehicle speed and the allowable error range ΔE is a negative correlation, that is, when the vehicle speed is faster, the allowable error range ΔE is narrower, ensuring that the distance error is smaller at a faster vehicle speed. Among them, the allowable error range ΔE is calculated according to a reference distance value U (meter) and a percentage value V (%). The minimum value of the allowable error range ΔE is UU×V%, and the maximum value of the allowable error range ΔE is U +U×V%, the reference distance value U and the percentage value V are also default values.

As mentioned above, the rear vehicle control device 10 obtains the first relative distance (defined as D_x here) from the rear vehicle sensing information D_rs, and the first relative distance D_x refers to the position of the rear vehicle B starting from the position At the starting point, the relative distance sensed value between the following vehicle B and the preceding vehicle A; the following vehicle control device 10 obtains the second relative distance (defined as D_y here) from the preceding vehicle information packet P_f, the first Two relative distances D_y refer to the relative distance sensing value between the preceding vehicle A and the following vehicle B when the position of the preceding vehicle A is taken as the starting point, and the following vehicle control device 10 can calculate an estimated moving distance D _p . W ₁ , W ₂ and W ₃ are weight values less than 1, respectively, and W ₁ +W ₂ +W ₃ ≤1. The time interval value Δt_seg reflects the elapsed time that the preceding vehicle information packet P_f is transmitted from the preceding vehicle control device 20 to the following vehicle control device 10 or further includes delay time, etc. For example, Δt_seg can be set to 100˜200 (ms), the estimated moving distance D _p can be expressed as D _p =S·Δt_seg, where S is the speed of the following vehicle in the own vehicle information D_rv of the following vehicle received by the following vehicle control device 10 . The rear-vehicle control device 10 calculates the estimated inter-vehicle distance D _RF according to the first relative distance D_x, the second relative distance D_y and the estimated moving distance D _p in combination with weights W ₁ , W ₂ , and W ₃ .

The following description is based on the premise that the communication between the rear vehicle control device 10 and the front vehicle control device 20 is normal and the rear vehicle sensing device 12 operates normally. Please refer to FIG. 4 , first, the rear vehicle control device 10 determines whether |D_x- _Dp | exceeds the allowable error range ΔE (step S01 ).

In step S01, when the judgment is "Yes", |D_x- _Dp | exceeds the allowable error range ΔE, which means that the error between the first relative distance D_x and the estimated moving distance _Dp is relatively large, so the following vehicle The control device 10 further determines whether |D_x-D_y| exceeds the allowable error range ΔE (step S02 ). In step S02, when it is determined as "Yes", |D_x-D_y| exceeds the allowable error range ΔE, which means that the error between the first relative distance D_x and the second relative distance D_y is relatively large, and the rear vehicle control device 10 The calculated workshop estimated distance D _RF is a first workshop estimated distance D _RF1 ; on the contrary, in step S02, when the judgment is "No", |D_x-D_y| falls within the allowable error range ΔE, representing the first The error between a relative distance D_x and the second relative distance D_y is small, and the estimated inter-vehicle distance D _RF calculated by the rear vehicle control device 10 is a second estimated inter-vehicle distance D _RF2 .

In step S01, when the judgment is “No”, |D_x- _Dp | falls within the allowable error range ΔE, which means that the error between the first relative distance D_x and the estimated moving distance _Dp is small, so the The following vehicle control device 10 further determines whether |D_x-D_y| exceeds the allowable error range ΔE (step S03 ). In step S03, when it is determined as "Yes", |D_x-D_y| exceeds the allowable error range ΔE, the estimated inter-vehicle distance D _RF calculated by the rear vehicle control device 10 is a third estimated inter-vehicle distance D _RF3 ; relative , in step S03, when it is judged as "No", |D_x-D_y| falls within the allowable error range ΔE, the vehicle estimated distance D _RF calculated by the rear vehicle control device 10 is a fourth estimated vehicle distance D _RF4 .

For example, the first vehicle-to-vehicle estimated distance D _RF1 can be represented as follows:

D _RF1 =W ₁ ×D_x+W ₂ ×D_y+W ₃ ×D _p , it can be seen that D_x, D_y and D _p are proportionally allocated according to weights. In other words, D _p is the last, and its proportional relationship can be set as W ₁ >W ₂ >W ₃ ; for example, assuming that W ₁ +W ₂ +W ₃ =1, in one embodiment, W ₁ can be set is 0.5, W ₂ can be set to 0.33, W ₃ can be set to 0.17, and so on, in other words, D_x accounts for 50% of D _RF1 , D_y accounts for 33% of D _RF1 , and D _p accounts for D _RF1 . 17%.

For example, the second workshop estimated distance D _RF2 can be expressed as follows:

D _RF2 =W ₁ ×Da+W ₂ ×Db+W ₃ ×Dc, where W ₃ <W ₁ and W ₃ <W ₂ . Therefore, when the rear vehicle control device 10 determines that D _RF = D _RF2 , the rear vehicle control device 10 determines that among the three D_x, D_y and D _p , the closest two are respectively Da and Db. The three are Dc, and the rear vehicle control device 10 adjusts the weight values W ₁ and W ₂ of Da and Db to be higher, and adjusts the weight value W ₃ of Dc to be lower. For example, when the difference between D_x and D_y is smaller than the difference between D_x and D _p , and the difference between D_x and D _p is smaller than the difference between D_y and D _p , then D_x and D_y are the closest and are regarded as Da and D respectively. Db, _Dp as Dc.

For example, the third vehicle estimated distance D _RF3 can be expressed as follows:

D _RF3 =W ₁ ×D_x+W ₂ ×D_y+W ₃ ×D _p , where W ₂ <W ₁ and W ₂ <W ₃ , that is, when the rear vehicle control device 10 determines that D _RF =D _RF3 , the rear vehicle control device 10 adjusts the weight value of the second relative distance D_y to be lower.

For example, the fourth workshop estimated distance D _RF4 can be expressed as follows:

D _RF4 =(W ₁ ×D_x+W ₂ ×D_y+W ₃ ×D _p )/(W ₁ +W ₂ +W ₃ ), that is, when the rear vehicle control device 10 determines that D _RF =D _RF4 , The following vehicle control device 10 performs a weighted average calculation on D_x, D_y, and _Dp .

(3) Queue-cutting decision-making means

Please refer to FIG. 1 , because there is a distance between the rear vehicle B and the preceding vehicle A, it is actually difficult to avoid other non-platooned vehicles changing lanes and merging between the rear vehicle B and the preceding vehicle A from other lanes . Therefore, please refer to FIG. 3 , FIG. 5 and FIG. 6A , the decision-making means implemented by the rear vehicle control device 10 includes judging whether there is a queue interruption event (step S11 ), and the queue interruption event refers to other vehicles other than the preceding vehicle A ( Namely: non-platoon vehicles, non-platoon vehicles hereinafter referred to as an outside vehicle C) is inserted between the rear vehicle B and the preceding vehicle A.

Regarding the method of the present invention for judging the queue interruption event, taking the rear vehicle control device 10 as an example, as described above, the rear vehicle control device 10 obtains the first relative distance from the rear vehicle sensing information D_rs, and the first relative distance The distance refers to the relative distance sensed value between the rear vehicle B and an object in front of the rear vehicle B when the position of the rear vehicle B is taken as the starting point; in addition, the rear vehicle control device 10 obtains the information from the preceding vehicle The second relative distance is obtained from the packet P_f, and the second relative distance refers to a relative distance sensed value between the preceding vehicle A and an object behind the preceding vehicle A when the position of the preceding vehicle A is taken as the starting point.

The rear vehicle control device 10 determines whether the variation of the first relative distance per unit time is greater than or equal to a first threshold value, and determines whether the variation of the second relative distance per unit time is greater than or equal to a second A threshold value, wherein the first threshold value and the second threshold value may be the same or different from each other. For example, when the rear vehicle B normally follows the preceding vehicle A, the first relative distance and the second relative distance are stable, so the change of the first relative distance per unit time is less than the first threshold value, and the variation of the second relative distance in the unit time is less than the second threshold value; The second relative distance should be equivalent to or similar to the distance d1 shown in FIG. 6B . It should be noted that the set values of the first threshold value and the second threshold value are related to the vehicle speeds of the following vehicle B and the preceding vehicle A. When the vehicle speed of the following vehicle B and the preceding vehicle A is faster , the shorter the first threshold value and the second threshold value are, thereby ensuring a faster response time at a faster vehicle speed.

When the outer vehicle C is inserted between the rear vehicle B and the preceding vehicle A, the rear vehicle control device 10 suddenly decelerates after detecting the outer vehicle C. At this time, the first relative distance suddenly becomes the The sensed value of the relative distance between the rear vehicle B and the outer vehicle C, that is, the distance d2 shown in FIG. 6B , causes the first relative distance to suddenly decrease (ie: from d1 to d2 ), which will make the rear vehicle The control device 10 determines that the variation of the first relative distance per unit time is greater than or equal to the first threshold value; similarly, the second relative distance suddenly becomes the relative distance between the preceding vehicle A and the outside vehicle C The sensed value, that is, the distance d3 shown in FIG. 6B , causes the second relative distance to suddenly decrease (ie: from d1 to d3 ), which will cause the rear vehicle control device 10 to also determine that the second relative distance is in unit The amount of time change is greater than or equal to the second threshold value.

When the rear vehicle control device 10 simultaneously determines that the variation of the first relative distance per unit time is greater than or equal to the first threshold value, and determines that the variation of the second relative distance per unit time is greater than or equal to the second The threshold value, that is, it is judged that there is the queue-cutting event. Because the judgment of the queue-cutting event of the present invention involves the first relative distance sensed by the rear-vehicle sensing device 12 and the second relative distance sensed by the preceding-vehicle sensing device 22, the rear-vehicle B A two-way relative distance evaluation (double check) is performed with the preceding vehicle A to make the judgment of the queue-cutting event more accurate.

When the rear-vehicle control device 10 detects the queue-cutting event, please refer to FIGS. 3 to 7A , the rear-vehicle control device 10 outputs a rear-vehicle deceleration command S1 to the rear-vehicle B to control the rear-vehicle B to decelerate, for example, by The rear vehicle deceleration command S1 limits the accelerator opening of the rear vehicle accelerator system 41 and/or strengthens the braking force of the rear vehicle brake system 42 to achieve the purpose of decelerating the rear vehicle B; in addition, the rear vehicle control device 10 also A queue-cutting notification N1 and a rear-vehicle deceleration notification N2 are wirelessly transmitted through the rear-vehicle communication device 11 (step S12 ).

When the rear vehicle control device 10 establishes a connection with the preceding vehicle control device 20 , the front vehicle control device 20 receives the queue interruption notification N1 and the rear vehicle deceleration notification N2 transmitted by the rear vehicle control device 10 , please refer to FIG. 7A . As shown in FIG. 8 , the preceding vehicle control device 20 outputs a preceding vehicle acceleration command S2 to the preceding vehicle A according to the queue cut notification N1 to control the preceding vehicle A to accelerate. For example, the preceding vehicle accelerator system 44 is increased by the preceding vehicle acceleration command S2 The accelerator opening is to achieve the purpose of accelerating the preceding vehicle A and maintain a safe distance from the outside vehicle C; in addition, as shown in FIG. 7A , the preceding vehicle control device 20 also wirelessly transmits a preceding vehicle acceleration notification N3 to The rear-vehicle control device 10, upon receipt of the preceding vehicle acceleration notification N3, the rear-vehicle control device 10 learns that the preceding vehicle A is accelerating (step S13).

Because the rear vehicle B has decelerated and the preceding vehicle A has accelerated, the gap between the rear vehicle B and the preceding vehicle A is extended, so that the outside vehicle C can travel between the rear vehicle B and the preceding vehicle A , to maintain the platoon, at this time the rear vehicle B follows behind the outer vehicle C and still obeys the following condition 100 .

In addition, please refer to FIG. 7A , when the rear-vehicle control device 10 wirelessly transmits the queue-cut notification N1 and the rear-vehicle deceleration notification N2 to the front-vehicle control device 20 through the rear-vehicle communication device 11 , it also transmits the queue-cut notification N1 and the The rear vehicle deceleration notification N2 is sent to the background host 30; when the preceding vehicle control device 20 wirelessly transmits the preceding vehicle acceleration notification N3 to the rear vehicle control device 10 through the preceding vehicle communication device 21, the preceding vehicle acceleration notification N3 is also transmitted to the backend host 30. In this way, the background host 30 can grasp the running status of the preceding vehicle A and the following vehicle B. Please refer to FIG. 7B and FIG. 8 , when the connection between the rear vehicle control device 10 and the preceding vehicle control device 20 is If the line is disconnected, the background host 30 transmits the queue cut notification N1 and the rear vehicle deceleration notification N2 to the preceding vehicle control device 20 , and the preceding vehicle control device 20 can respond to the queue cut notification transmitted from the background host 30 N1 outputs the preceding vehicle acceleration command S2 to the preceding vehicle A to control the acceleration of the preceding vehicle A, and wirelessly transmits the preceding vehicle acceleration notification N3 to the background host 30 through the preceding vehicle communication device 21 , and the background host 30 then sends the The preceding vehicle acceleration notification N3 is transmitted to the following vehicle control device 10 .

Please refer to FIG. 9 , after the outside vehicle C leaves between the rear vehicle B and the preceding vehicle A, the rear vehicle control device 10 can detect that the queue-cutting event has been eliminated. At this time, please refer to FIG. 3 and FIG. 7A, the rear vehicle control device 10 outputs a rear vehicle acceleration command S3 to the rear vehicle B to control the rear vehicle B to accelerate, and wirelessly transmits a queue exclusion notification N4 and a rear vehicle acceleration notification N5 to the front vehicle control device 20 7A and FIG. 8, the preceding vehicle control device 20 outputs a preceding vehicle deceleration command S4 to the preceding vehicle A to control the preceding vehicle to decelerate according to the queue exclusion notification N4, and wirelessly transmits a preceding vehicle to decelerate. The vehicle deceleration notification N6 is sent to the rear vehicle control device 10 and the background host 30 . As mentioned above, when the connection between the rear vehicle control device 10 and the front vehicle control device 20 is disconnected, the background host 30 can be used to transmit the queue exclusion notification N4, the rear vehicle acceleration notification N5 and the front vehicle The vehicle decelerates to inform the N6 medium.

Because the rear vehicle B has accelerated and the preceding vehicle A has decelerated, the gap between the rear vehicle B and the preceding vehicle A is reduced, so that the rear vehicle control device 10 of the rear vehicle B can comply with the following condition 100 Steady follow behind the vehicle A in front.

The foregoing is the decision about the team being interrupted by the outer vehicle C. On the other hand, the rear vehicle control device 10 can also control the rear vehicle B to accelerate or decelerate according to the variation of the estimated inter-vehicle distance. Please refer to FIG. 10 , the rear-vehicle control device 10 determines whether the variation of the estimated vehicle distance within a unit time is greater than a threshold value (step S21 ); if not, the rear-vehicle control device 10 keeps complying with the following condition Continue to follow the vehicle behind the preceding vehicle A; if so, the following vehicle control device 10 further determines whether the change in the estimated vehicle distance is increased or decreased (step S22 ). The vehicle control device 10 controls the rear vehicle B to accelerate so as to keep up with the preceding vehicle A (step S23 ). When the change in the estimated vehicle distance is decreasing, the rear vehicle control device 10 controls the rear vehicle B to decelerate to avoid a collision The preceding vehicle A (step S24). In addition, if an unexpected situation occurs, for example, the rear-vehicle control device 10 receives an unexpected notification from the background host 30 , the rear-vehicle control device 10 can control the rear-vehicle B to decelerate or stop.

(4) Information synchronization mechanism

As mentioned above, the preceding vehicle control device 20 periodically transmits the preceding vehicle information packet to the background host 30 and the rear vehicle control device 10 , and the background host 30 and the rear vehicle control device 10 implement an information synchronization in the present invention The information synchronization mechanism determines whether the preceding vehicle information packets P_f received by the background host 30 and the following vehicle control device 10 are continuous packets or whether there is a time delay to identify the preceding vehicle. The packet transmission validity of the control device 20 is controlled.

For the data format of the preceding vehicle information packet P_f, please refer to FIG. 11. The data format of each preceding vehicle information packet P_f may include (but not limited to) an initial symbol 501, a packet serial number 502, a machine time 503, A positioning information 504 , a driving information 505 , a steering angle information 506 , a heading information 507 and an end symbol 508 . The local time 503 is the time generated by the timer of the preceding vehicle control device 20; the packet sequence number 502 is used to distinguish different preceding vehicle information packets P_f before and after. In the embodiment of the present invention, the preceding vehicle control device 20 Each time the preceding vehicle information packet P_f is output, a progressive value is added to the packet sequence number 502; the positioning information 504 may be GPS positioning information, which includes a positioning time and coordinates (including longitude and The driving information 505 may include acceleration, deceleration, speed and braking information of the preceding vehicle; the steering angle information 506 may be, for example, the steering wheel angle; the heading information 507 represents the orientation of the preceding vehicle A, such as including the Information on the pitch, yaw and roll of the preceding vehicle A.

Please refer to FIG. 12 in combination, the steps of the information synchronization mechanism include:

For the convenience of description, the two preceding vehicle information packets received from the preceding vehicle control device 20 are respectively a first preceding vehicle information packet and a second preceding vehicle information packet, and the first preceding vehicle information packet is retrieved The packet serial number of the preceding vehicle is used as a first preceding vehicle packet serial number, and the packet serial number of the second preceding vehicle information packet is retrieved as a second preceding vehicle packet serial number and the local time 503 is used as a preceding vehicle local time.

Add a progressive value to the first preceding vehicle's packet sequence number to form an estimated preceding vehicle's serial number, for example, the progressive value may be "1", and then compare the preceding vehicle's estimated serial number with the second preceding vehicle's packet serial number As a result, and according to a system time of the background host 30 or a time difference between the local time of a following vehicle of the following vehicle control device 10 and the local time of the preceding vehicle in the second preceding vehicle information packet, it is determined that the transmission of the packet is valid sex.

Therefore, when the comparison result between the estimated sequence number of the preceding vehicle and the packet sequence number of the second preceding vehicle is a non-consecutive sequence number, for example, the estimated sequence number of the preceding vehicle is "100", but the packet sequence number of the second preceding vehicle is "109" ”, it can be judged that there is a packet leakage phenomenon between the first preceding vehicle information packet and the second preceding vehicle information packet; When the time difference between the local time of the preceding vehicle in the vehicle information packet exceeds a threshold time, the phenomenon of packet transmission delay can also be determined. When there is a phenomenon of missing packets or packet transmission delay, the information synchronization mechanism can determine that the packet transmission effectiveness of the preceding vehicle control device 20 is low. For example, when the background host 30 determines that the data transmission effectiveness is low , it can be determined that the front vehicle control device 20 and the rear vehicle control device 10 are disconnected.

To sum up, when there is an outside vehicle merging between the preceding vehicle and the rear vehicle, the present invention can control the rear vehicle to decelerate. For the preceding vehicle, if the road conditions permit (for example, the front lane of the preceding vehicle is clear) ) to control the acceleration of the preceding vehicle to properly widen the distance between the preceding vehicle and the rear vehicle to avoid an accident with the outside vehicle; The acceleration of the rear car allowed the convoy to return to a stable platoon. On the other hand, the present invention can reflect the actual relative distance between the preceding vehicle and the rear vehicle through the vehicle estimated distance, so that the rear vehicle control device can more accurately grasp the actual relative distance between the rear vehicle and the preceding vehicle; The present invention uses the information synchronization mechanism to evaluate the effectiveness of packet transmission, so as to ensure the efficiency of vehicle following decision.

Claims (10)

1. a platoon driving decision-making system is characterized in that, supply is used in a convoy, this convoy comprises a rear car and a preceding car, and this platoon driving decision-making system comprises: A rear vehicle control device is arranged on the rear vehicle to control the rear vehicle to follow the preceding vehicle. When the rear vehicle control device detects a queue interruption event, it outputs a rear vehicle deceleration command to the rear vehicle to control the rear vehicle. The car slows down, and wirelessly transmits a queue cut notice and a rear car deceleration notice; A preceding vehicle control device is arranged on the preceding vehicle. When the rear vehicle control device establishes a connection with the preceding vehicle control device, the preceding vehicle control device receives the queue interruption notification transmitted by the rear vehicle control device and decelerates the rear vehicle. Notify, output a preceding vehicle acceleration command to the preceding vehicle to control the preceding vehicle acceleration according to the queue cut notification, and wirelessly transmit a preceding vehicle acceleration notification to the rear vehicle control device; When the rear-vehicle control device detects that the queue-cutting event has been eliminated, it outputs a rear-vehicle acceleration command to the rear-vehicle to control the acceleration of the rear-vehicle, and wirelessly transmits a queue-cutting exclusion notification and a rear-vehicle acceleration notification to the front-vehicle controller The preceding vehicle control device outputs a preceding vehicle deceleration command to the preceding vehicle according to the queue exclusion notification to control the preceding vehicle to decelerate, and wirelessly transmits a preceding vehicle deceleration notification to the rear vehicle control device. 2. The platoon driving decision-making system according to claim 1, further comprising a background host, the background host connecting the rear vehicle control device and the preceding vehicle control device respectively; The rear vehicle control device transmits the queue cut notification and the rear vehicle deceleration notification to the background host. When the rear vehicle control device and the preceding vehicle control device are disconnected, the background host will send the queue cut notification and the rear vehicle deceleration notification. It is transmitted to the preceding vehicle control device, the preceding vehicle control device outputs the preceding vehicle acceleration command to the preceding vehicle according to the queue cut notification transmitted from the background host, and wirelessly transmits the preceding vehicle acceleration notification to the background host, the background The host computer then transmits the acceleration notification of the preceding vehicle to the rear vehicle control device. 3. The platoon driving decision-making system of claim 2, wherein the background host and the rear vehicle control device implement an information synchronization mechanism, the information synchronization mechanism comprising: The two preceding vehicle information packets received from the preceding vehicle control device are respectively a first preceding vehicle information packet and a second preceding vehicle information packet, and a first preceding vehicle information packet of the first preceding vehicle information packet is retrieved a vehicle packet serial number, and a second preceding vehicle packet serial number and a preceding vehicle local time from the second preceding vehicle information packet; Adding a progressive value to the first preceding vehicle packet serial number to form an preceding vehicle estimated serial number, according to the comparison result of the preceding vehicle estimated serial number and the second preceding vehicle packet serial number, and according to a background system of the background host The time difference between the time and the local time of the preceding vehicle in the second preceding vehicle information packet is used to judge the packet transmission validity of the preceding vehicle control device. 4. The platoon driving decision-making system according to any one of claims 1 to 3, wherein the rear-vehicle control device is signal-connected to a rear-vehicle communication device, a rear-vehicle sensing device, and a rear vehicle information device; The rear-vehicle control device obtains a first relative distance from a rear-vehicle sensing information received by the rear-vehicle sensing device, and the first relative distance refers to the distance between the rear-vehicle and the a relative distance sensing value between a front object of the following vehicle; The rear-vehicle control device obtains a second relative distance from a preceding vehicle information packet received by the rear-vehicle communication device. The second relative distance refers to the distance between the preceding vehicle and the preceding vehicle when the position of the preceding vehicle is taken as the starting point. The relative distance sensing value between a rear object; The rear vehicle control device determines whether the variation of the first relative distance per unit time is greater than or equal to a first threshold, and determines whether the variation of the second relative distance per unit time is greater than or equal to a second threshold value; When the change amount of the first relative distance in the unit time is greater than or equal to the first threshold value, and the change amount of the second relative distance in the unit time is greater than or equal to the second threshold value, the rear vehicle control device That is, it is determined that there is the queue-cutting event. 5. The platoon driving decision-making system according to any one of claims 1 to 3, wherein the rear-vehicle control device is signal-connected to a rear-vehicle communication device, a rear-vehicle sensing device, and a rear vehicle information device; The rear-vehicle control device receives a rear-vehicle sensing information from the rear-vehicle sensing device, and obtains a first relative distance from the rear-vehicle sensing information, where the first relative distance refers to the position of the rear-vehicle At the starting point, the relative distance sensing value between the following vehicle and the preceding vehicle; The rear-vehicle control device receives a preceding-vehicle information packet from the rear-vehicle communication device, and obtains a second relative distance from the preceding-vehicle information packet. The relative distance sensing value between the preceding vehicle and the rear vehicle; The rear-vehicle control device receives a rear-vehicle information from the rear-vehicle information device, obtains a rear-vehicle speed from the rear-vehicle information, and calculates an estimated moving distance according to the rear-vehicle speed and a time interval value; The rear-vehicle control device controls the rear-vehicle to follow the preceding vehicle according to a following condition, and the following condition is set as a preset comparison information of a following vehicle speed and a following distance; the rear-vehicle control device is based on the following vehicle. The first relative distance, the second relative distance, and the estimated moving distance are combined with a weight value to calculate a vehicle-to-vehicle estimated distance, and the vehicle-to-vehicle estimated distance is compared with the following distance of the vehicle following condition to adjust the rear of the following vehicle. The accelerator system and a rear brake system. 6. A platoon driving decision-making method, characterized in that, comprising: Controlling a rear vehicle to follow a vehicle behind a preceding vehicle according to a following condition through a rear vehicle control device; Whether there is a queue interruption event is detected by the rear vehicle control device, and if so, the rear vehicle control device outputs a rear vehicle deceleration command to the rear vehicle to control the rear vehicle to decelerate, and wirelessly transmits a queue interruption notification and a rear vehicle deceleration notification; When the rear-vehicle control device establishes a connection with a preceding-vehicle control device disposed on the preceding vehicle, the preceding-vehicle control device receives the queue-cut notification and the rear-vehicle deceleration notification, and outputs a preceding-vehicle acceleration command according to the queue-cut notification control the acceleration of the preceding vehicle to the preceding vehicle, and wirelessly transmit a preceding vehicle acceleration notification to the rear vehicle control device; It is detected by the rear vehicle control device whether the queue interruption event has been eliminated, if so, the rear vehicle control device outputs a rear vehicle acceleration command to the rear vehicle to control the acceleration of the rear vehicle, and wirelessly transmits a queue exclusion notification and a rear vehicle notification of acceleration to the preceding vehicle control device; When a connection is established between the rear vehicle control device and the preceding vehicle control device, the preceding vehicle control device outputs a preceding vehicle deceleration command to the preceding vehicle to control the preceding vehicle to decelerate according to the queue exclusion notification, and wirelessly transmits a preceding vehicle deceleration Notify the rear vehicle control device. 7. platoon driving decision-making method as claimed in claim 6, is characterized in that, further comprises: The rear vehicle control device transmits the queue cut notification and the rear vehicle deceleration notification to a background host; When the rear vehicle control device and the preceding vehicle control device are disconnected, the background host transmits the queue cut notification and the rear vehicle deceleration notification to the front vehicle control device; The preceding vehicle control device outputs the preceding vehicle acceleration command to the preceding vehicle according to the queue cut notification transmitted from the background host, and wirelessly transmits the preceding vehicle acceleration notification to the background host; The background host transmits the preceding vehicle acceleration notification to the rear vehicle control device. 8. The platoon driving decision-making method of claim 7, further comprising an information synchronization mechanism, the information synchronization mechanism comprising: The two front and rear information packets of the preceding vehicle received by the back-end host and the rear vehicle control device from the preceding vehicle control device are respectively a first preceding vehicle information packet and a second preceding vehicle information packet, and the first and second preceding vehicle information packets are retrieved. A first preceding vehicle packet serial number of a preceding vehicle information packet, and capturing a second preceding vehicle packet serial number and a preceding vehicle local time of the second preceding vehicle information packet; The back-end host and the rear-vehicle control device add a progressive value to the packet sequence number of the first preceding vehicle to form an estimated sequence number of the preceding vehicle, according to the comparison result of the estimated sequence number of the preceding vehicle and the packet sequence number of the second preceding vehicle , and according to the time difference between a background system time of the background host and the local time of the preceding vehicle in the second preceding vehicle information packet, to determine the packet transmission validity of the preceding vehicle control device. 9. The platoon driving decision-making method according to any one of claims 6 to 8, wherein the step of the rear vehicle control device judging the queue interruption event comprises: The rear-vehicle control device obtains a first relative distance from a rear-vehicle sensing information received by a rear-vehicle sensing device, and the first relative distance refers to the distance between the rear-vehicle and the a relative distance sensing value between a front object of the following vehicle; The rear-vehicle control device obtains a second relative distance from a preceding vehicle information packet received by a rear-vehicle communication device, and the second relative distance refers to the distance between the preceding vehicle and the preceding vehicle when the position of the preceding vehicle is taken as the starting point The relative distance sensing value between a rear object; The rear vehicle control device determines whether the variation of the first relative distance per unit time is greater than or equal to a first threshold, and determines whether the variation of the second relative distance per unit time is greater than or equal to a second threshold value; When the change amount of the first relative distance in the unit time is greater than or equal to the first threshold value, and the change amount of the second relative distance in the unit time is greater than or equal to the second threshold value, the rear vehicle control device That is, it is determined that there is the queue-cutting event. 10 . The platoon driving decision-making method according to claim 6 , wherein the rear vehicle control device receives a rear vehicle sensing information from a rear vehicle sensing device, and detects the rear vehicle from the rear vehicle sensing device. 11 . A first relative distance is obtained from the measured information, and the first relative distance refers to the relative distance sensing value between the rear vehicle and the preceding vehicle when the position of the rear vehicle is taken as the starting point; The rear-vehicle control device receives a preceding-vehicle information packet from a rear-vehicle communication device, and obtains a second relative distance from the preceding-vehicle information packet, where the second relative distance refers to when the position of the preceding vehicle is taken as the starting point, The relative distance sensing value between the preceding vehicle and the rear vehicle; The rear-vehicle control device receives a rear-vehicle information from a rear-vehicle information device, obtains a rear-vehicle speed from the rear-vehicle information, and calculates an estimated moving distance according to the rear-vehicle speed and a time interval value; The rear-vehicle control device controls the rear-vehicle to follow the preceding vehicle according to a following condition, and the following condition is set as a preset comparison information of a following vehicle speed and a following distance; the rear-vehicle control device is based on the following vehicle. The first relative distance, the second relative distance, and the estimated moving distance are combined with a weight value to calculate a vehicle-to-vehicle estimated distance, and the vehicle-to-vehicle estimated distance is compared with the following distance of the vehicle following condition to adjust the rear of the following vehicle. The accelerator system and a rear brake system.

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