CN111971721A - Vehicle combined driving method and system based on intelligent traffic system and moped - Google Patents
Vehicle combined driving method and system based on intelligent traffic system and mopedDownload PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B19/00—Runners for carrying wheeled vehicles to facilitate travel on ice or snow
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/22—Platooning, i.e. convoy of communicating vehicles
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及智能交通技术领域，特别是涉及一种基于智能交通系统的车辆联合行驶方法、系统及助力车。The present invention relates to the technical field of intelligent transportation, in particular to a method, system and a power-assisted vehicle for joint driving of vehicles based on an intelligent transportation system.
背景技术Background technique
随着人们生活水平的不断提高，汽车的保有量越来越大，汽车的利用率也越来越高。现有的普通汽车，可以满足人们大部分的日常使用，但也有一些特殊的使用需要，普通汽车不能满足，而因为这样少数需求而购买更高级、功能更强大的车辆又会导致平时利用率不高，必要性不足。With the continuous improvement of people's living standards, the number of automobiles is getting larger and larger, and the utilization rate of automobiles is also getting higher and higher. Existing ordinary cars can meet most of people's daily use, but there are also some special needs that ordinary cars cannot meet. Buying more advanced and more powerful vehicles because of such a small number of needs will lead to low utilization rates. high, not necessary.
智能交通系统(Intelligent Transportation System，ITS),指的是在较完善的基础设施之上将先进的信息技术、数据通讯传输技术、电子传感技术、电子控制技术以及计算机处理技术等有效地集成运用于整个交通运输管理体系，从而建立起一种在大范围、全方位发挥作用的实时、准确、高效的综合管理系统。智能交通系统作为未来交通系统的发展方向，对减轻交通系统压力、提高交通管理水平、提升车辆使用效率等方面具有重要意义。因此亟待一种将智能交通技术与车辆联合行驶有机结合的方法，更好地利用现有的车辆，当现有车辆不能满足偶尔的特殊使用需求时，调配其他车辆与现有车辆联合使用来满足使用需求，提升汽车的利用率和效率。Intelligent Transportation System (ITS) refers to the effective integration and application of advanced information technology, data communication transmission technology, electronic sensing technology, electronic control technology and computer processing technology on the basis of relatively complete infrastructure. In order to establish a real-time, accurate and efficient integrated management system that plays a role in a wide range and all directions. As the development direction of the future transportation system, the intelligent transportation system is of great significance in reducing the pressure of the transportation system, improving the level of traffic management, and improving the efficiency of vehicle use. Therefore, there is an urgent need for a method of organically combining intelligent transportation technology and vehicle joint driving, so as to make better use of existing vehicles. When the existing vehicles cannot meet the occasional special use requirements, other vehicles can be deployed to meet the needs of joint use with existing vehicles. Use demand to improve the utilization and efficiency of vehicles.
发明内容SUMMARY OF THE INVENTION
本发明的主要目的是：提供一种基于智能交通系统的车辆联合行驶方法、系统及助力车，获取车辆行驶的目的信息、道路信息、路况信息及车辆信息，分析车辆行驶的需求信息，判断当前车辆是否满足行驶的需求，如果不满足则根据实际情况调配联合行驶的车辆，规划路线并指引司机或自动驾驶车辆或辅助驾驶车辆行驶。通过将智能交通技术与车辆联合行驶有机结合的方法，更好地利用现有的车辆，当现有车辆不能满足偶尔的特殊使用需求时，调配其他车辆与现有车辆联合使用来满足使用需求，提升汽车的利用率和效率。The main purpose of the present invention is: to provide a vehicle combined driving method, system and power-assisted vehicle based on an intelligent transportation system, to obtain the purpose information, road information, road condition information and vehicle information of vehicle driving, to analyze the demand information of vehicle driving, and to judge the current vehicle. Whether the driving needs are met, if not, the joint driving vehicles will be deployed according to the actual situation, the route will be planned, and the driver or the autonomous driving vehicle or the assisted driving vehicle will be guided. Through the organic combination of intelligent transportation technology and vehicle joint driving, the existing vehicles can be better utilized. When the existing vehicles cannot meet the occasional special use needs, other vehicles can be deployed in combination with the existing vehicles to meet the use needs. Improve vehicle utilization and efficiency.
为实现上述目的，本发明提供了一种基于智能交通系统的车辆联合行驶方法，所述方法包括：In order to achieve the above object, the present invention provides a vehicle joint driving method based on an intelligent transportation system, the method comprising:
S1：获取车辆行驶的目的信息；S1: Obtain the purpose information of the vehicle;
S2：获取道路信息、路况信息及车辆信息；S2: Obtain road information, road condition information and vehicle information;
S3：通过获取的信息分析出车辆行驶的需求信息，判断当前车辆是否满足行驶的需求？是则跳至S5；S3: Analyze the demand information of vehicle driving through the obtained information, and judge whether the current vehicle meets the driving demand? If yes, skip to S5;
S4：根据实际情况调配联合行驶的车辆；S4: allocate vehicles for joint driving according to the actual situation;
S5：规划路线，指引司机或自动驾驶车辆或辅助驾驶车辆行驶。S5: Plan the route and guide the driver or the autonomous driving vehicle or the assisted driving vehicle.
如上所述的车辆联合行驶方法，所述调配联合行驶的车辆包括在当前车辆的动力/防滑能力/制动能力不足的情况下，调配其他车辆作为助力车为所述当前车辆提供补充动力/防滑能力/制动能力。In the vehicle combined driving method as described above, the deployment of the vehicles for combined driving includes, when the power/anti-skid capability/braking capability of the current vehicle is insufficient, deploying other vehicles as a power-assisted vehicle to provide supplementary power/anti-skid capability for the current vehicle /braking capacity.
如上所述的车辆联合行驶方法，所述调配联合行驶的车辆还包括在当前车辆的动力/防滑能力/制动能力富余的情况下，将所述当前车辆作为助力车为额外的车厢或动力不足的车辆提供补充动力/防滑能力/制动能力。In the vehicle combined driving method as described above, the deploying the vehicle for combined driving further includes using the current vehicle as a power-assisted vehicle as an extra compartment or a vehicle with insufficient power when the power/anti-skid capability/braking capability of the current vehicle is surplus. The vehicle provides supplemental power/skid capability/braking capability.
如上所述的车辆联合行驶方法，所述调配联合行驶的车辆还包括在当前车辆的轮胎施予路面压强超过路面承受压强上限或者轮胎胎压超过自身压强/压力上限的情况下，调配其他车辆作为助力车为所述当前车辆减少轮胎压强。In the above-mentioned vehicle combined driving method, the deployment of the vehicles for combined driving further includes deploying other vehicles as the vehicle when the road surface pressure applied by the tires of the current vehicle exceeds the upper limit of the road surface pressure or the tire pressure exceeds the upper limit of its own pressure/pressure. The moped reduces tire pressure for the current vehicle.
如上所述的车辆联合行驶方法，所述方法还包括在所述当前车辆移动存在困难的情况下，调配适合作为拖车的车辆或助力车作为联合行驶的车辆，通过支撑装置连接支撑当前车辆，将当前车辆全部或部分抬离地面，移动至目的地。The vehicle combined driving method as described above, the method further includes, when the current vehicle is difficult to move, deploying a vehicle suitable for use as a trailer or a moped as a combined driving vehicle, connecting and supporting the current vehicle through a support device, and connecting the current vehicle. The vehicle is fully or partially lifted off the ground and moved to its destination.
如上所述的车辆联合行驶方法，所述自动驾驶是通过获取的道路信息、路况信息及车辆信息智能分析出包括了联合行驶车辆的整体自动驾驶方案；所述联合行驶车辆按照所述整体自动驾驶方案自动驾驶或辅助驾驶或指引司机驾驶。In the vehicle joint driving method as described above, the automatic driving is to intelligently analyze an overall automatic driving scheme including the joint driving vehicle through the acquired road information, road condition information and vehicle information; the joint driving vehicle is driven according to the overall automatic driving. The solution is automatic driving or assisted driving or guiding the driver to drive.
如上所述的车辆联合行驶方法，所述自动驾驶可以通过车辆之间建立共享自动驾驶模式来实现车辆的联合驾驶，所述联合行驶车辆按照所述共享自动驾驶模式进行自动驾驶或辅助驾驶或指引司机驾驶。In the above-mentioned vehicle joint driving method, the automatic driving can realize joint driving of vehicles by establishing a shared automatic driving mode between vehicles, and the joint driving vehicle performs automatic driving or assisted driving or guidance according to the shared automatic driving mode The driver drives.
如上所述的车辆联合行驶方法，所述方法还包括根据车辆行驶的目的信息、道路信息、路况信息、车辆信息、需求信息，对调配联合行驶的车辆的各方案进行多维度的评估和比较，优先选用最适合的方案。The vehicle joint driving method as described above, the method further comprises performing multi-dimensional evaluation and comparison of each scheme for deploying the joint driving vehicle according to the purpose information, road information, road condition information, vehicle information and demand information of vehicle driving, Choose the most suitable option first.
如上所述的车辆联合行驶方法，所述方法还包括将调配联合行驶的车辆的方案在各自条件下评估和比较的结果，对应生成不同的智能分析模型，以便在相同/相似的条件下能够使用/借鉴相关的智能分析模型。The vehicle joint driving method as described above, the method further includes evaluating and comparing the results of the plans for deploying joint driving vehicles under respective conditions, and correspondingly generating different intelligent analysis models so that they can be used under the same/similar conditions. / Learn from relevant intelligent analysis models.
本发明还提供一种基于智能交通系统的车辆联合行驶系统，包括服务器和通讯模块；The present invention also provides a vehicle joint driving system based on an intelligent transportation system, comprising a server and a communication module;
所述服务器获取车辆行驶的目的信息；the server obtains the purpose information of the vehicle;
所述通讯模块从智能交通系统获取道路信息、路况信息及车辆信息；The communication module obtains road information, road condition information and vehicle information from the intelligent transportation system;
所述服务器通过获取的信息分析出车辆行驶的需求信息，判断当前车辆是否满足行驶的需求，如果否，则根据实际情况调配联合行驶的车辆；The server analyzes the demand information for vehicle driving through the acquired information, determines whether the current vehicle meets the driving demand, and if not, allocates a joint driving vehicle according to the actual situation;
所述通讯模块从智能交通系统获取规划路线及自动驾驶方案传输至所述车辆，指引司机或自动驾驶车辆或辅助驾驶车辆行驶。The communication module obtains the planned route and the automatic driving scheme from the intelligent transportation system and transmits it to the vehicle, so as to guide the driver or the automatic driving vehicle or the assisted driving vehicle to drive.
本发明还提供一种助力车，所述助力车包括动力装置、所述动力装置用于为所述助力车提供动力，所述助力车可为联合行驶的车辆提供补充动力/防滑能力/制动能力或者减少其轮胎压强。The present invention also provides a power-assisted vehicle, the power-assisted vehicle includes a power device, the power device is used to provide power for the power-assisted vehicle, and the power-assisted vehicle can provide supplementary power/anti-skid capability/braking capability or reduce the tire pressure.
本发明的一种基于智能交通系统的车辆联合行驶方法、系统及助力车，通过获取车辆行驶的目的信息、道路信息、路况信息及车辆信息，通过获取的信息分析出车辆行驶的需求信息，判断当前车辆是否满足行驶的需求，如果否，则根据实际情况调配联合行驶的车辆，规划路线，指引司机或自动驾驶车辆或辅助驾驶车辆行驶。通过将智能交通技术与车辆联合行驶有机结合的方法，更好地利用现有的车辆，当现有车辆不能满足的特殊使用需求时，调配其他车辆与现有车辆联合使用来满足使用需求，提升汽车的利用率和效率。The present invention provides a combined vehicle driving method, system and power-assisted vehicle based on an intelligent transportation system. By acquiring vehicle driving purpose information, road information, road condition information and vehicle information, the acquired information can be used to analyze vehicle driving demand information to determine the current status of the vehicle. Whether the vehicle meets the driving needs, if not, deploy the joint driving vehicle according to the actual situation, plan the route, and guide the driver or the autonomous driving vehicle or the assisted driving vehicle to drive. Through the organic combination of intelligent transportation technology and vehicle joint driving, the existing vehicles can be better utilized. When the existing vehicles cannot meet the special needs of use, other vehicles can be deployed in conjunction with the existing vehicles to meet the needs of use. Vehicle utilization and efficiency.
附图说明Description of drawings
图1为本发明第一实施例一种基于智能交通系统的车辆联合行驶方法的方法流程图。FIG. 1 is a flow chart of a method for a joint vehicle driving method based on an intelligent transportation system according to the first embodiment of the present invention.
图2为本发明第二实施例一种基于智能交通系统的车辆联合行驶系统的示意图。FIG. 2 is a schematic diagram of a vehicle combined driving system based on an intelligent transportation system according to a second embodiment of the present invention.
图3为本发明第三实施例一种助力车的示意图。FIG. 3 is a schematic diagram of a moped according to the third embodiment of the present invention.
图4为单轮带平衡装置的助力车的示意图。FIG. 4 is a schematic diagram of a power-assisted bicycle with a single wheel and a balancing device.
具体实施方式Detailed ways
为进一步阐述本发明达成预定目的所采取的技术手段及功效，以下结合附图及实施例，对本发明的具体实施方式，详细说明如下。In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings and embodiments.
本发明第一实施例参阅图1。图1为本发明第一实施例一种基于智能交通系统的车辆联合行驶方法的方法流程图。如图所示，本发明的基于智能交通系统的车辆联合行驶方法包括：Refer to FIG. 1 for the first embodiment of the present invention. FIG. 1 is a flow chart of a method for a joint vehicle driving method based on an intelligent transportation system according to the first embodiment of the present invention. As shown in the figure, the vehicle joint driving method based on the intelligent transportation system of the present invention includes:
步骤1：获取车辆行驶的目的信息。Step 1: Obtain the purpose information of the vehicle driving.
首先，获取车辆行驶的目的信息。车辆行驶的目的信息可以包括：车辆目的地/预期行驶路线、车辆的型号/载人数/载重量/货物种类、运输的要求、车辆的当前位置、出发时间、到达时间要求等信息。First, obtain information on the purpose of the vehicle traveling. The purpose information of vehicle driving may include: vehicle destination/expected driving route, vehicle model/carrying capacity/load capacity/goods type, transportation requirements, current location of the vehicle, departure time, arrival time requirements and other information.
获取车辆行驶的目的信息可以是用户主动发送联合行驶需求，并且将车辆行驶的目的信息随之一起上传至服务器；也可以是服务器接收到用户的联合行驶的需求后，根据实际需要向用户车辆获取车辆行驶的目的信息；还可以是服务器通过其他途径获取的车辆行驶的目的信息。Obtaining the purpose information of vehicle driving can be that the user actively sends the joint driving demand, and uploads the purpose information of the vehicle driving to the server together with it; it can also be that the server receives the user's joint driving demand and obtains it from the user's vehicle according to actual needs. The purpose information of the vehicle driving; it can also be the purpose information of the vehicle driving obtained by the server through other channels.
步骤2：获取道路信息、路况信息及车辆信息。Step 2: Obtain road information, road condition information and vehicle information.
接到用户的车辆行驶的目的信息后，需要先获取道路信息、路况信息及车辆信息，为分析车辆行驶的需求信息，判断当前车辆是否满足行驶的需求做准备。After receiving the user's vehicle driving purpose information, it is necessary to obtain road information, road condition information and vehicle information first, so as to prepare for analyzing the vehicle driving demand information and judging whether the current vehicle meets the driving demand.
道路信息包括：车道数、车道宽度、曲率半径、坡度、道路材质、出入口、红绿灯、道口、连接道路、道路环境、路面情况(包括摩擦力、承重、限重、限高、限速等)等与道路本身有关的信息。路况信息包括：车流量、车辆位置、车辆速度、车辆加速度、车辆目标等与导航有关的信息、障碍物/行人信息、交通信号灯信息、路面破损情况、交通意外、交通管制等与道路交通状况有关的信息，还包括动态的与天气有关的如气候影响、结冰、雪，风速，能见度等信息。车辆信息可以包括：车辆类型、型号、车牌号、车辆的长度/宽度/高度/质量/制动距离/轮胎情况/动力情况/防滑性能/电量/油量等参数、车辆目的地、乘坐人数等等。Road information includes: number of lanes, lane width, radius of curvature, slope, road material, entrances and exits, traffic lights, crossings, connecting roads, road environment, road conditions (including friction, load-bearing, weight limit, height limit, speed limit, etc.), etc. Information about the road itself. Road condition information includes: traffic flow, vehicle position, vehicle speed, vehicle acceleration, vehicle target and other navigation-related information, obstacle/pedestrian information, traffic light information, road damage, traffic accidents, traffic control, etc. related to road traffic conditions It also includes dynamic weather-related information such as climate effects, icing, snow, wind speed, and visibility. Vehicle information can include: vehicle type, model, license plate number, vehicle length/width/height/mass/braking distance/tire condition/power condition/anti-skid performance/electricity/fuel quantity and other parameters, vehicle destination, number of passengers, etc. Wait.
道路信息、路况信息及车辆信息可以基于智能交通系统方便的获取。智能交通系统可以通过道路监测装置和车载监测装置获取道路信息、路况信息及车辆信息，也可以通过其他监测装置如高空监测装置等获取。道路监测装置可以包括摄像头、雷达、感应传感器、红外探测装置、道路或路面的压力/光学/超声波传感器等多种装置，可以在道路的合适位置设置多个监测装置用于获取这些信息。此外，现有的车辆，无论是自动驾驶车辆还是人工驾驶车辆，通常也都会包括一些车载监测装置，如车载摄像头、车载雷达、测速仪等等。还可以通过高空监测装置如卫星/飞机/无人机/高空气球等获取道路信息和路况信息。也可以通过监测车辆的物联网硬件/射频卡/ECT设备等获取相关信息。最后，还可以通过监测道路周边可能影响路况的范围如路边行人/动物/车辆/建筑物/车站等来获取道路状况的相关信息。获取车辆信息的途径可以包括：接收车辆主动发出的车辆信息、系统向车辆询问后车辆回复的信息、通过道路监测装置或其他装置监测得出、通过识别出车辆型号或车牌号后查询得到等等。Road information, road condition information and vehicle information can be easily obtained based on the intelligent transportation system. The intelligent transportation system can obtain road information, road condition information and vehicle information through road monitoring devices and vehicle-mounted monitoring devices, as well as other monitoring devices such as high-altitude monitoring devices. Road monitoring devices may include cameras, radars, inductive sensors, infrared detection devices, road or road pressure/optical/ultrasonic sensors and other devices, and multiple monitoring devices may be set at appropriate locations on the road to obtain these information. In addition, existing vehicles, whether they are autonomous vehicles or human-driven vehicles, usually include some on-board monitoring devices, such as on-board cameras, on-board radar, speedometers, and so on. It is also possible to obtain road information and road condition information through high-altitude monitoring devices such as satellites/airplanes/UAVs/high-altitude balloons. Relevant information can also be obtained by monitoring the vehicle's IoT hardware/RF card/ECT equipment. Finally, relevant information about road conditions can also be obtained by monitoring the range around the road that may affect the road conditions, such as roadside pedestrians/animals/vehicles/buildings/stations. Ways to obtain vehicle information may include: receiving vehicle information actively sent by the vehicle, information returned by the vehicle after the system inquires the vehicle, monitoring through road monitoring devices or other devices, and querying after identifying the vehicle model or license plate number, etc. .
在本发明中，由于获取的信息来自不同的来源，因而可能存在获取的信息的数据结构/数据标准/数据格式/数据描述等存在差异的状况，在此状况下，为了信息使用的流畅化及高效化，需要将不同来源、类型信息的进行转换和/或整合。可以通过视频识别技术、音频识别技术、车辆/车牌识别技术、三维/四维建模技术、虚拟现实技术、增强现实技术、不同语言的翻译等方法实现信息数据的转换和/或整合。In the present invention, since the acquired information comes from different sources, there may be a situation where the data structure/data standard/data format/data description of the acquired information are different. Efficiency requires the transformation and/or integration of different sources and types of information. The conversion and/or integration of information and data can be achieved through methods such as video recognition technology, audio recognition technology, vehicle/license plate recognition technology, 3D/4D modeling technology, virtual reality technology, augmented reality technology, and translation of different languages.
步骤3：通过获取的信息分析出车辆行驶的需求信息，判断当前车辆是否满足行驶的需求？是，跳至步骤5，否，继续执行步骤4。Step 3: Analyze the driving demand information of the vehicle through the obtained information, and judge whether the current vehicle meets the driving demand? If yes, go to step 5; if no, go to step 4.
根据车辆行驶的目的信息和道路信息、路况信息及车辆信息，分析出车辆行驶的需求信息，判断当前车辆是否满足行驶的需求。According to the information of the purpose of vehicle driving, road information, road condition information and vehicle information, the demand information of vehicle driving is analyzed, and it is judged whether the current vehicle meets the driving demand.
根据车辆的型号得到车辆的长度/宽度/高度/质量/动力/防滑性能/制动力，根据车辆目的地/预期行驶路线/当前位置/出发时间/到达时间/载人数/载重量/货物种类/运输的要求，以及相关道路坡度/曲率半径/路面摩擦力/路面承重/路面承压/道路限速/路面破损情况等，推算出车辆行驶的动力/制动力/防滑能力/平稳度/速度/轮胎压强等方面的需求。车辆行驶的需求还可以包括：车辆/货物/人员的危险级别、车辆/货物/人员的安全要求、车辆功能要求、人员驾驶能力要求等，以及其他与车辆行驶相关的需求。Obtain the length/width/height/mass/power/anti-skid performance/braking force of the vehicle according to the model of the vehicle, according to the destination of the vehicle/expected driving route/current position/departure time/arrival time/number of passengers/loading capacity/cargo type/ Transportation requirements, as well as related road gradient/curvature radius/road friction force/road bearing capacity/road pressure bearing/road speed limit/road damage condition, etc., calculate the driving power/braking force/anti-skid ability/stability/speed/ tire pressure, etc. The requirements for vehicle driving may also include: the danger level of the vehicle/goods/person, safety requirements for the vehicle/goods/person, vehicle function requirements, personnel driving ability requirements, etc., as well as other requirements related to vehicle driving.
判断当前车辆是否满足行驶的需求可以从多个维度综合分析得出，包括：车辆的动力/制动力相对于车辆载重是否不足/合适/富余、车辆的爬坡/防滑能力是否不足/合适/富余、车辆是否满足道路的限高/限长/限速/载重要求等、车辆是否满足道路路况的限制、车辆是否适合道路材质/路面破损情况/曲率半径/道路宽度、车辆轮胎压强是否超标等等。通过从多个维度综合分析，判断当前车辆是否满足行驶的需求，如果是，跳至步骤5；如果否，继续执行步骤4调配联合行驶的车辆来满足行驶的需求后，再执行步骤5。Judging whether the current vehicle meets the driving needs can be obtained from a comprehensive analysis of multiple dimensions, including: whether the vehicle's power/braking force is insufficient/suitable/surplus relative to the vehicle load, and whether the vehicle's climbing/anti-skid ability is insufficient/suitable/surplus , Whether the vehicle meets the road height limit/length limit/speed limit/load requirements, etc., whether the vehicle meets the road conditions restrictions, whether the vehicle is suitable for road material/pavement damage/curvature radius/road width, whether the vehicle tire pressure exceeds the standard, etc. . Through comprehensive analysis from multiple dimensions, it is judged whether the current vehicle meets the driving needs. If so, skip to step 5;
步骤4：根据实际情况调配联合行驶的车辆。Step 4: Allocate vehicles for joint driving according to the actual situation.
对于当前车辆不满足行驶需求的情况，需要根据实际情况调配联合行驶的车辆来满足行驶的需求。For the situation that the current vehicle does not meet the driving demand, it is necessary to deploy the joint driving vehicle according to the actual situation to meet the driving demand.
在本发明中，调配联合行驶的车辆可以包括在当前车辆的动力/防滑能力/制动能力不足的情况下，调配其他车辆作为助力车为所述当前车辆提供补充动力/防滑能力/制动能力。例如：当前车辆所带车箱载重20吨，而动力只够拉载重15吨的，则需要调配另外一辆或多辆，总富余动力够载重5吨的其他车辆作为助力车为所述当前车辆提供动力，使调配后的车辆/车辆组满足该行驶的需求。调配联合行驶的车辆还可以包括在当前车辆的动力/防滑能力/制动能力富余的情况下，将所述当前车辆作为助力车为额外的车厢或动力不足的车辆提供补充动力/防滑能力/制动能力。In the present invention, deploying a vehicle for joint driving may include deploying other vehicles as a power-assisted vehicle to provide supplementary power/anti-skid capacity/braking capacity for the current vehicle when the current vehicle has insufficient power/anti-skid capacity/braking capacity. For example: if the current vehicle carries a weight of 20 tons, but the power is only enough to pull the load of 15 tons, you need to deploy another vehicle or vehicles with a total surplus power of 5 tons as a power-assisted vehicle to provide power for the current vehicle. , so that the deployed vehicle/vehicle group can meet the driving requirement. Deploying a vehicle for joint driving may also include using the current vehicle as a power-assisted vehicle to provide supplementary power/anti-skid capability/braking for an additional compartment or an underpowered vehicle when the current vehicle has excess power/skid capability/braking capability ability.
在本发明中，其他车辆作为助力车还可以为当前车辆提供补充防滑能力/制动能力。提供补充防滑能力/制动能力的助力车可能是有更短的制动距离，或者使用了摩擦力更大的防滑轮胎，或者是使用履带的车辆，还包括利用助力车辆的刹车以及发动机的制动作用等。例如：当前车辆需要通过里面结冰的坡道，而其不具备所需防滑性能，则需要调配另外一辆或多辆防滑性能较高的其他车辆作为助力车为所述当前车辆提供防滑能力，使调配后的车辆/车辆组满足该行驶的需求。当前车辆也可以作为助力车为额外的车厢或动力不足的车辆提供补充防滑能力/制动能力。In the present invention, other vehicles can also provide supplementary anti-skid capability/braking capability for the current vehicle as a power-assisted vehicle. A power-assisted vehicle that provides supplementary anti-skid/braking capability may have a shorter braking distance, or use a more frictional anti-skid tire, or use a tracked vehicle, including the use of power-assisted vehicle braking and engine braking role, etc. For example, if the current vehicle needs to pass through an icy ramp, but it does not have the required anti-skid performance, it is necessary to deploy another vehicle or other vehicles with high anti-skid performance as a moped to provide the current vehicle with anti-skid ability, so that the The deployed vehicle/vehicle group meets the requirements of the travel. The current vehicle can also act as a moped to provide supplemental anti-skid/braking capability for additional cabins or underpowered vehicles.
在本发明中，调配联合行驶的车辆还包括在当前车辆的轮胎施予路面压强超过路面承受压强上限或者轮胎胎压超过自身压强上限的的情况下，调配其他车辆作为助力车为所述当前车辆减少轮胎压强。当当前车辆的轮胎施予路面压强超过路面承受压强上限或者轮胎胎压超过轮胎自身承受压强上限时，通过与助力车联合行驶，可以起到增加整体车辆与路面的接触面积的效果，可将一部分车辆重量分散到助力车上，从而减少当前车辆的轮胎压强。In the present invention, deploying a vehicle for joint driving also includes deploying other vehicles as a power-assisted vehicle to reduce the current vehicle pressure when the road surface pressure applied by the tires of the current vehicle exceeds the upper limit of the road surface pressure or the tire tire pressure exceeds the upper limit of its own pressure. tire pressure. When the road pressure applied by the tires of the current vehicle exceeds the upper limit of the road surface pressure or the tire tire pressure exceeds the upper limit of the tire itself, the joint driving with a moped can increase the contact area between the entire vehicle and the road surface, and can reduce a part of the vehicle to the road surface. The weight is distributed to the moped, thereby reducing the tire pressure of the current vehicle.
在本发明中，调配联合行驶的车辆还可以起到两种及两种以上作用，如调配的车辆作为助力车在当前车辆上坡时为其提供补充动力，下坡时则为其提供补充的防滑能力。In the present invention, the vehicles that are deployed for combined driving can also play two or more functions. For example, the deployed vehicles are used as a power-assisted vehicle to provide supplementary power for the current vehicle when it goes uphill, and it provides supplementary anti-skid protection when it goes downhill. ability.
在本发明中，联合行驶的车辆通过连接装置相互连接。连接装置可以是由各种连接工具实现连接，如连接索/连接杆/链结钩/连接锁扣/电磁吸盘/负压吸盘等，连接装置在角度和长度上又可以有一定的弹性，以保证车辆在移动过程联合行驶的车辆相互之间连接的稳定性。连接装置可以是与车辆原有拖车钩配合使用，也可以是需要安装/改装的部件，也可以是直接吸附在车体。连接装置可以由人工操作连接，也可以是自动连接。例如：联合行驶车辆的助力车包括连接钢索，所述连接钢索带有固定接头，当前车辆包括连接插孔，助力车的连接钢索的固定接头插入当前车辆的连接插孔实现连接。In the present invention, the vehicles traveling together are connected to each other by the connecting device. The connecting device can be connected by various connecting tools, such as connecting cable/connecting rod/link hook/connecting lock/electromagnetic suction cup/negative pressure suction cup, etc. To ensure the stability of the connection between the vehicles that travel together during the moving process. The connecting device can be used in conjunction with the original trailer hook of the vehicle, or it can be a component that needs to be installed/modified, or it can be directly adsorbed on the vehicle body. The connecting device can be connected manually or automatically. For example, a moped of a combined driving vehicle includes a connecting wire with a fixed joint, the current vehicle includes a connecting jack, and the fixed joint of the connecting wire of the moped is inserted into the connecting jack of the current vehicle to realize connection.
连接装置还可以包括定位装置，定位装置用于将车辆连接装置对准被连接车辆的连接装置，可以是通过视频定位、卫星定位、雷达定位、电磁定位、预先设定位置或其他定位方式。连接车辆与被连接车辆的对接具体对接实现方式举例：连接装置设置在当前车辆的前部，助力车的连接装置设置在车辆的后部，当两辆车的相对位置符合连接条件时，连接装置可以根据与当前车辆连接装置的相对位置通过转动、伸缩等方式靠近，或者通过自动驾驶/辅助驾驶进一步调整相对位置以实现两车连接装置的靠近，当连接装置对接后，即可锁住，实现两车的连接。连接装置的对接可以使用图像识别技术，在助力车上设有相应一个或多个图像采集设备，用于获取自身连接装置与当前车辆连接装置的相对位置，再通过服务器发出对接装置的移动指令，实现对接。也可以是通过图像采集获取实时影像，人工操作连接装置实现对接；也可以是通过雷达、超声波等方式引导连接装置。The connecting device may also include a positioning device, which is used to align the vehicle connecting device with the connecting device of the connected vehicle, which may be through video positioning, satellite positioning, radar positioning, electromagnetic positioning, preset positions or other positioning methods. An example of the specific docking implementation of the docking between the connecting vehicle and the connected vehicle: the connecting device is set at the front of the current vehicle, and the connecting device of the moped is set at the rear of the vehicle. When the relative positions of the two vehicles meet the connection conditions, the connecting device can According to the relative position of the current vehicle connecting device, it can be approached by rotating, telescopic, etc., or by further adjusting the relative position through automatic driving/assisted driving to achieve the approach of the two-vehicle connecting device. car connection. The docking of the connecting device can use image recognition technology, and one or more image acquisition devices are provided on the moped to obtain the relative position of the connecting device and the current vehicle connecting device, and then send the movement command of the docking device through the server to realize docking. It is also possible to obtain real-time images through image acquisition, and manually operate the connection device to achieve docking; or to guide the connection device by means of radar, ultrasonic waves, or the like.
所述助力车既可以位于当前车辆的前方，也可以位于当前车辆的后方，还可以是位于当前车辆的两侧或斜前/斜后方，还可以位于当前车辆的底部，本发明不作限制，以方便提供动力/防滑能力/制动能力的位置为主。The moped can be located either in front of the current vehicle, behind the current vehicle, on both sides of the current vehicle or obliquely in front/behind the current vehicle, and can also be located at the bottom of the current vehicle, which is not limited in the present invention for convenience. The position that provides power/skid ability/braking ability is the main one.
联合行驶的车辆还可以包括固定装置，固定装置用于将连接后的连接装置固定在被连接的车辆的相应位置上，可以是通过挂钩、锁扣等机械设备进行固定，也可以是通过电磁设备靠电磁吸力固定。The joint driving vehicle may also include a fixing device. The fixing device is used to fix the connected connecting device on the corresponding position of the connected vehicle. It can be fixed by mechanical equipment such as hooks and locks, or it can be fixed by electromagnetic equipment. Fixed by electromagnetic attraction.
联合行驶的车辆也可以是通过连接装置直接相连，形成一个联合行驶的整体。The vehicles for joint driving can also be directly connected through the connecting device to form a joint driving whole.
对于车辆不满足道路的限高/限长/限速/载重要求、车辆不满足道路路况的限制、车辆不适合道路材质/路面破损情况/曲率半径/道路宽度等情况，调配联合行驶的车辆还可以通过更换满足道路的限高/限长/限速/载重要求的车辆、满足道路路况的限制的车辆、适合道路材质/路面破损情况/曲率半径/道路宽度的车辆等方法使调配后的车辆/车辆组满足该行驶的需求。For the vehicle does not meet the road height limit/length limit/speed limit/load requirements, the vehicle does not meet the road condition restrictions, the vehicle is not suitable for road material/pavement damage/curvature radius/road width, etc., the deployment of joint driving vehicles also The adjusted vehicles can be made by replacing vehicles that meet the requirements of road height/length/speed/load, vehicles that meet the restrictions of road conditions, vehicles that are suitable for road material/pavement damage/curvature radius/road width, etc. /Vehicle group to meet the needs of this trip.
本发明的基于智能交通系统的车辆联合行驶方法还可以包括为当前车辆更换动力装置，使当前车辆满足车辆行驶的需求。或者为当前车辆增加或减少动力装置，使当前车辆满足车辆行驶的需求。所述的车辆为可更换动力装置或可增加/减少动力装置的车辆。The vehicle combined driving method based on the intelligent transportation system of the present invention may further include replacing the power unit for the current vehicle, so that the current vehicle can meet the requirements of vehicle driving. Or increase or decrease the power unit for the current vehicle, so that the current vehicle can meet the needs of the vehicle. The vehicle in question is a vehicle with a replaceable power unit or a power unit that can be increased/decreased.
可更换动力装置的车辆，包括动力装置，所述动力装置用于为可更换动力装置的车辆提供动力，可更换动力装置的车辆可以方便的更换或增减动力装置。The vehicle with replaceable power unit includes a power unit, the power unit is used to provide power for the vehicle with replaceable power unit, and the vehicle with replaceable power unit can conveniently replace or increase or decrease the power unit.
可更换动力装置的车辆包括动力仓，动力装置放置在动力仓内。可更换动力装置的车辆还包括动力接口，用于与动力装置连接。在本实施例中，动力装置可以是燃油发动机、电动机或其他类型动力装置，在此不作限制。A powerplant-replaceable vehicle includes a powerhouse in which the powerplant is placed. The powerplant replaceable vehicle also includes a power interface for connecting with the powerplant. In this embodiment, the power device may be a fuel engine, an electric motor, or other types of power devices, which are not limited herein.
在本实施例中，可更换动力装置的车辆还可以包括一个或多个额外动力接口，用于外接一个或多个额外动力装置，为车辆提供动力。额外动力装置可以与动力装置是同一类型的动力装置，也可以是不同类型的动力装置。额外动力装置可以放置在动力仓内，也可以外接于车辆外部，例如放置于车辆的外接支架上，等等。In this embodiment, the vehicle with the replaceable power unit may further include one or more additional power interfaces for externally connecting one or more additional power units to provide power for the vehicle. The extra powerplant can be the same type of powerplant as the powerplant, or it can be a different type of powerplant. The extra power unit can be placed in the power compartment, or can be externally connected to the vehicle, for example, placed on an external bracket of the vehicle, and so on.
可更换动力装置的车辆，在车辆动力不足时，可以更换更大功率的动力装置，增加车辆动力；当车辆动力富余时，也可以更换更小功率的动力装置，降低车辆动力。还可以是在车辆动力不足时，依靠增加额外动力装置来增加车辆动力；或是在车辆动力富余时，如果车辆有额外动力装置，可以通过减少额外动力装置来降低车辆动力。通过上述方式可以满足本发明的基于智能交通系统的车辆联合行驶方法中调配适合的车辆的要求。For vehicles with replaceable power units, when the power of the vehicle is insufficient, the power unit of higher power can be replaced to increase the power of the vehicle; when the power of the vehicle is surplus, the power unit of lower power can also be replaced to reduce the power of the vehicle. It is also possible to increase the power of the vehicle by adding an extra power unit when the power of the vehicle is insufficient; or when the power of the vehicle is abundant, if the vehicle has an extra power unit, the power of the vehicle can be reduced by reducing the extra power unit. The above-mentioned method can satisfy the requirement of allocating suitable vehicles in the method for combined vehicle driving based on the intelligent transportation system of the present invention.
在本实施例中，对于当前车辆不满足行驶需求的情况，可能存在多种调配联合行驶的车辆的调配方案，使得调配后的车辆/车辆组能够满足行驶需求。对于多种不同调配方案的选择与比较，本发明的基于智能交通系统的车辆联合行驶方法还可以包括根据车辆行驶的目的信息、道路信息、路况信息、车辆信息、需求信息，对调配联合行驶的车辆的各方案进行多维度的评估和比较，优先选用最适合的方案。In this embodiment, for the situation that the current vehicle does not meet the driving requirement, there may be various deployment schemes for deploying the vehicles that travel together, so that the deployed vehicle/vehicle group can meet the driving requirement. For the selection and comparison of a variety of different deployment schemes, the vehicle joint driving method based on the intelligent transportation system of the present invention may further include: The various schemes of the vehicle are evaluated and compared in multiple dimensions, and the most suitable scheme is preferentially selected.
具体方法包括：根据车辆行驶的目的信息、道路信息、路况信息、车辆信息、需求信息，对各调配方案从效率/经济性/安全性等目标进行分析得到的结果，分别设定对应的级别/分值，并且设定各目标的权重，从而能够根据各目标结果的级别/分值和各目标的权重，计算出该调配方案的综合级别/分值，以便于对各调配方案进行综合比较及排序。The specific method includes: according to the purpose information of vehicle driving, road information, road condition information, vehicle information, and demand information, and the results obtained by analyzing the goals of efficiency/economy/safety of each deployment plan, setting corresponding levels/levels respectively. score, and set the weight of each target, so that the comprehensive level/score of the deployment scheme can be calculated according to the level/score of each target result and the weight of each target, so as to facilitate the comprehensive comparison and evaluation of each deployment scheme. sort.
目标的权重可以根据用户不同的目的需求进行调整，例如：有的用户希望获得高效率的方案，那么效率的权重就可以调高一点；有的用户希望获得高性价比的方案，那么经济性的权重就可以调高一点。本发明的基于智能交通系统的车辆联合行驶方法还可以包括将调配联合行驶的车辆的方案在各自条件下评估和比较的结果，包括各目标结果的级别/分值和各目标的权重，对应生成不同的智能分析模型，以便在相同/相似的条件下能够使用/借鉴相关的智能分析模型。并且智能分析模型的设定可以在使用过程中不断进行优化和调整，级别/分值/权重的设定和优化可以是人工设置，也可以是人工智能自动设置，还可以是半人工半自动设置。The weight of the target can be adjusted according to the different needs of users. For example, if some users want to obtain a high-efficiency solution, the weight of efficiency can be adjusted higher; some users want to obtain a cost-effective solution, then the weight of economy Can be adjusted higher. The method for joint driving of vehicles based on the intelligent transportation system of the present invention may further include the results of evaluating and comparing the plans for deploying vehicles for joint driving under respective conditions, including the level/score of each target result and the weight of each target, corresponding to the generation of Different intelligent analysis models, so that the relevant intelligent analysis models can be used/borrowed under the same/similar conditions. And the settings of the intelligent analysis model can be continuously optimized and adjusted during use. The settings and optimization of levels/scores/weights can be manual settings, artificial intelligence automatic settings, or semi-manual and semi-automatic settings.
在本发明中，调配联合行驶的车辆除了满足行驶的需求，还需要综合考虑时间、路线、车型、成本、安全性、交通法规、交通管理、道路条件等因素进行调配。可以将相关因素设定权重，并将不同驾驶方案中各分析因素的结果设定分值或级别，以便可以通过加权计算的方法分析最优方案。如在当前车辆行驶时间优先的情况下，调配距离当前车辆最近的可满足行驶需求的车辆与之联合行驶；如考虑安全性因素时，应该避免危险品车辆和载客车辆联合行驶。In the present invention, in addition to meeting the requirements of driving, the vehicles for joint driving need to be allocated in consideration of time, route, vehicle type, cost, safety, traffic regulations, traffic management, road conditions and other factors. The relevant factors can be set as weights, and the results of each analysis factor in different driving schemes can be set as scores or levels, so that the optimal scheme can be analyzed by the method of weighted calculation. For example, when the current vehicle's travel time is given priority, the vehicle that is closest to the current vehicle that can meet the driving needs will be deployed to drive with it; if safety factors are considered, the combined driving of dangerous goods vehicles and passenger-carrying vehicles should be avoided.
本发明的基于智能交通系统的车辆联合行驶方法还可以包括：所述当前车辆移动存在困难情况下，调配适合作为拖车的车辆或助力车作为联合行驶的车辆，通过支撑装置连接支撑当前车辆，将当前车辆全部或部分抬离地面，移动至目的地。助力车或作为拖车的联合行驶车辆可以是单独一辆车，也可以是多辆车作为组合，按照整体自动驾驶方案完成拖车过程。如车辆出现故障不能行驶时，可以调配其他车辆或者助力车/助力车组，移动当前车辆。还有车辆因停车位置过于狭小，难以入位或难以驶出时，助力车可以将当前车抬离地面并将其移动至可以正常行驶的地方。The method for combined driving of vehicles based on the intelligent transportation system of the present invention may further include: when the current vehicle is difficult to move, deploying a vehicle suitable for use as a trailer or a moped as a vehicle for combined driving, connecting and supporting the current vehicle through a support device, and connecting the current vehicle to the current vehicle. The vehicle is fully or partially lifted off the ground and moved to its destination. A moped or a combined driving vehicle as a trailer can be a single vehicle or a combination of multiple vehicles to complete the towing process according to the overall autonomous driving scheme. If the vehicle fails and cannot be driven, other vehicles or mopeds or mopeds can be deployed to move the current vehicle. In addition, when the vehicle is too narrow to enter or drive out, the moped can lift the current vehicle off the ground and move it to a place where it can be driven normally.
本发明中所述调配联合行驶的车辆，既可以是普通车辆，也可以是根据需求设计的各种助力车。The vehicles for deployment and joint driving in the present invention can be either ordinary vehicles or various power-assisted vehicles designed according to requirements.
步骤5：规划路线，指引司机或自动驾驶车辆或辅助驾驶车辆行驶。Step 5: Plan a route to guide the driver or autonomous or assisted driving.
在本发明中，满足行驶需求的车辆可能是一辆车，也可能是多辆联合行驶的车辆组成的车辆组。在规划路线及分析自动驾驶方案时要充分考虑到行驶过程中保持适当的相互距离，进行加速、减速、并线、转向、停车需要考虑对车辆组内其他车辆的影响，以及对组外道路上其他车辆的影响。此时，由人工进行驾驶会增大驾驶难度，增加事故发生率，降低行驶效率。而采用自动驾驶可以解决该问题。在分析自动驾驶方案时，需要考虑整体的方案。将连接后的车辆或车辆组作为一个整体，根据各车辆的启动、加速、转向、减速、防滑、制动等性能数据和轴距、轮距、剩余油量/电量、重量、高度等参数综合考虑连接后车辆整体的自动驾驶方案，使得调配后的车辆或车辆组可以联合行驶，共同配合完成加速、减速、并线、转向、停车等驾驶动作，同时保持适当的相互距离和相对位置，联合起来共同满足车辆行驶的需求，提升汽车的利用率和效率。In the present invention, the vehicle that meets the driving requirements may be one vehicle, or may be a vehicle group composed of a plurality of vehicles traveling together. When planning the route and analyzing the automatic driving scheme, it is necessary to fully consider maintaining an appropriate distance from each other during the driving process. Acceleration, deceleration, merging, steering, and parking need to consider the impact on other vehicles in the vehicle group, as well as on the road outside the group. effects of other vehicles. At this time, manual driving will increase the difficulty of driving, increase the accident rate, and reduce driving efficiency. The use of autonomous driving can solve this problem. When analyzing an autonomous driving solution, the overall solution needs to be considered. Take the connected vehicle or vehicle group as a whole, according to the performance data of each vehicle, such as starting, acceleration, steering, deceleration, anti-skid, braking, etc., and parameters such as wheelbase, wheelbase, remaining fuel/electricity, weight, height, etc. Consider the overall automatic driving scheme of the connected vehicles, so that the deployed vehicles or vehicle groups can drive together, and cooperate to complete driving actions such as acceleration, deceleration, merging, steering, parking, etc., while maintaining appropriate mutual distance and relative position. Together, they can meet the needs of vehicle driving and improve the utilization and efficiency of vehicles.
车辆的相关性能数据可以来自各种车辆技术参数、测评数据再接合当前车辆的行驶里程、车龄、保养状况、轮胎磨损情况、刹车使用情况等信息进行评估。相关评估可以通过建立相关车辆性能模型，然后把当前车辆的信息带入模型以分析相关性能数据。The relevant performance data of the vehicle can be evaluated from various vehicle technical parameters and evaluation data combined with the current vehicle's mileage, vehicle age, maintenance status, tire wear, and brake usage. Relevant evaluation can be done by building a relevant vehicle performance model, and then bringing the current vehicle information into the model to analyze the relevant performance data.
根据道路信息、路况信息和车辆信息，通过计算分析得出车辆整体自动驾驶方案，联合行驶的车辆都按照该方案自动驾驶。在确定了需要联合行驶的车辆后，整体自动驾驶方案首先指引车辆相互接近到可以连接的距离，车辆按照联合驾驶方案的顺序排列，并通过连接装置进行连接，之后开始联合驾驶。According to road information, road condition information and vehicle information, the overall automatic driving scheme of the vehicle is obtained through calculation and analysis, and the vehicles driving together are driven automatically according to this scheme. After determining the vehicles that need joint driving, the overall autonomous driving scheme first guides the vehicles to approach each other to a distance that can be connected. The vehicles are arranged in the order of the joint driving scheme and connected through the connecting device, and then the joint driving is started.
车辆整体自动驾驶方案首先需要根据道路信息、路况信息和车辆信息建立道路交通模型，道路交通模型可以包括：道路、车辆、障碍物、行人、覆盖范围、覆盖时间、天气状况、特殊情况及其他与道路交通相关的因素。具体可以包括：道路宽度、车流量、车辆位置/型号/速度/加速度/制动距离，障碍物位置/大小、行人的速度/方向/目的性/可能的行为等、能见度/下雨/下雪/路面结冰等天气情况、特殊情况如白天夜晚差异/交通潮汐规律/交通管制或限行计划/车辆权重/特殊任务的时间优先/限时到达以及其他车辆的避让/道路外覆盖范围等、以及影响道路交通的其他内容包括道路外的各种车/物/人等。道路交通模型的覆盖范围可以根据实际情况设置，覆盖范围可以是一小段道路、一条完整的道路、几条道路、一个区域范围内、一个城市范围内以及更广阔的范围。系统获取的信息越丰富、越真实，道路交通模型包含的参数越多，所建立的道路交通模型也就贴近实际，依据该模型所分析得出的车辆整体自动驾驶方案就越完善。The overall autonomous driving solution of the vehicle first needs to establish a road traffic model based on road information, road condition information and vehicle information. The road traffic model can include: roads, vehicles, obstacles, pedestrians, coverage, coverage time, weather conditions, special circumstances and other related factors related to road traffic. Specifically, it can include: road width, traffic flow, vehicle position/model/speed/acceleration/braking distance, obstacle position/size, pedestrian speed/direction/purpose/possible behavior, etc., visibility/rain/snow /Weather conditions such as road icing, special conditions such as day and night differences/traffic tidal patterns/traffic control or traffic restriction plans/vehicle weights/time priority for special tasks/time-limited arrival and avoidance of other vehicles/off-road coverage, etc., and impact Other contents of road traffic include various vehicles/things/people outside the road. The coverage of the road traffic model can be set according to the actual situation, and the coverage can be a small section of road, a complete road, several roads, within a region, within a city, and a wider range. The richer and more realistic the information obtained by the system, the more parameters the road traffic model contains, the more realistic the road traffic model is, and the more complete the vehicle's overall autonomous driving solution is based on the analysis of the model.
建立模型之后，在模型范围内依据真实完整的信息包括：空间信息/时间信息/对象信息/其他信息如交通管制或限行或红绿灯等信息，通过计算分析得出车辆整体自动驾驶方案。对比只针对单辆车的自动驾驶，从整体上计算分析自动驾驶方案具有很大优势。首先，针对车辆整体的自动驾驶方案，联合行驶的车辆都按照该整体自动驾驶方案执行，那么，相当于联合行驶的车辆相互间的预期行驶轨迹是已知的，只需要对其他车辆的行驶轨迹进行预测，更容易做到保持距离，同步行驶，因而效率更高。After the model is established, based on the real and complete information within the scope of the model, including: spatial information/time information/object information/other information such as traffic control or traffic restrictions or traffic lights, the overall autonomous driving scheme of the vehicle is obtained through calculation and analysis. Comparing with the automatic driving only for a single vehicle, it has great advantages to calculate and analyze the automatic driving scheme as a whole. First of all, for the overall automatic driving scheme of the vehicle, the joint driving vehicles are executed according to the overall automatic driving scheme. Then, the expected driving trajectories of the vehicles equivalent to joint driving are known, and only the driving trajectories of other vehicles are required. Prediction makes it easier to keep distance and drive in sync, so it's more efficient.
本发明的基于智能交通系统的车辆联合行驶方法，还可以在调配后的车辆不具备自动驾驶功能时，将车辆整体自动驾驶方案用于提示司机其他车辆的行驶情况或引导司机驾驶车辆或辅助驾驶车辆。车辆的驾驶员可以提前获知整体方案组内其他车辆的预期行驶轨迹，还可以获得引导，引导司机在该状况下采用正确的减速、加速、并线、停车等驾驶行为，可以提高行驶效率，大大降低事故发生的概率，提高安全性。The vehicle joint driving method based on the intelligent transportation system of the present invention can also use the overall automatic driving scheme of the vehicle to prompt the driver of the driving situation of other vehicles or guide the driver to drive the vehicle or assist the driving when the deployed vehicle does not have the automatic driving function. vehicle. The driver of the vehicle can know in advance the expected driving trajectories of other vehicles in the overall solution group, and can also obtain guidance to guide the driver to adopt correct driving behaviors such as deceleration, acceleration, merging, and parking in this situation, which can improve driving efficiency and greatly improve driving efficiency. Reduce the probability of accidents and improve safety.
通过本发明的基于智能交通系统的车辆联合行驶方法，可以基于智能交通系统的实时路况信息，根据不同道路或区域的车流量及各车辆的实际情况，事先分析和判断现有车辆是否满足行驶的需求，当现有车辆不能满足需求时，可以在调配其他车辆与现有车辆联合使用来满足使用需求，提升汽车的利用率和效率。调配其他车辆与现有车辆联合使用可以是全部行驶的过程，也可以是一段路程或几个特殊路段。Through the vehicle joint driving method based on the intelligent transportation system of the present invention, based on the real-time road condition information of the intelligent transportation system, according to the traffic flow of different roads or areas and the actual conditions of each vehicle, it is possible to analyze and judge in advance whether the existing vehicles meet the driving requirements. When the existing vehicles cannot meet the demand, other vehicles can be deployed in combination with the existing vehicles to meet the use requirements and improve the utilization rate and efficiency of the vehicle. The deployment of other vehicles to be used in conjunction with existing vehicles can be a process of full driving, or it can be a section of road or several special sections.
除了通过整体自动驾驶方案，所述自动驾驶可以通过车辆之间建立共享自动驾驶模式来实现车辆的联合驾驶，所述联合行驶车辆按照所述共享自动驾驶模式进行自动驾驶或辅助驾驶或指引司机驾驶。In addition to the overall automatic driving scheme, the automatic driving can realize the joint driving of the vehicles by establishing a shared automatic driving mode between the vehicles, and the joint driving vehicle performs automatic driving or assisted driving or guides the driver to drive according to the shared automatic driving mode. .
首先建立一个车辆联合行驶平台，当用户发出车辆联合行驶需求时，平台根据距离、具体要求、路况等信息找到适合联合行驶的车辆，然后确定联合行驶的具体方案。当联合行驶的车辆接近并通过连接装置相互连接后，再通过平台建立起两辆车之间的共享自动驾驶，如将助力车的自动驾驶相关指令经过平台转换为当前车辆的自动驾驶指令，使其在自动驾驶过程中能够与助力车保持稳定的相对位置，以实现两车联合行驶。平台寻找合适联合行驶的车辆的方式可以是通过相关参数的计算、在可用车辆中人工指派、可用车辆主动应答等方式实现。将联合行驶车辆中的一辆车的自动驾驶指令转换为另外一辆车的自动驾驶指令的方法可以是在考虑两车合适距离、道路情况、车辆情况、交通信号情况的基础上，对前车的加速、减速、转向、停车、启动等指令，以及车速、车道等信息进行加工，转换为后车的自动驾驶指令。在实现两车自动驾驶的过程中，平台对前车的自动驾驶指令可以根据实时交通信息、车辆状况等信息予以限制，以使前车自动驾驶相关指令在转换为后车指令后，后车不致出现违反交通管理信号、违反交规、危险驾驶或动力不足跟不上前车等情况。First, a vehicle joint driving platform is established. When the user sends a vehicle joint driving request, the platform finds vehicles suitable for joint driving according to information such as distance, specific requirements, and road conditions, and then determines the specific plan for joint driving. When the joint driving vehicles approach and are connected to each other through the connecting device, the shared automatic driving between the two vehicles is established through the platform. In the process of automatic driving, it can maintain a stable relative position with the moped, so as to realize the joint driving of the two vehicles. The way for the platform to find suitable vehicles for joint driving can be achieved through the calculation of relevant parameters, manual assignment of available vehicles, and active responses of available vehicles. The method of converting the automatic driving instruction of one vehicle in the combined driving vehicle into the automatic driving instruction of another vehicle may be based on considering the appropriate distance between the two vehicles, road conditions, vehicle conditions, and traffic signal conditions, to the preceding vehicle. The acceleration, deceleration, steering, parking, start and other instructions, as well as vehicle speed, lane and other information are processed and converted into automatic driving instructions for the following vehicle. In the process of realizing the automatic driving of two vehicles, the platform can restrict the automatic driving instructions of the preceding vehicle according to real-time traffic information, vehicle conditions and other information, so that after the instructions related to the automatic driving of the preceding vehicle are converted into the instructions of the following vehicle, the following vehicle will not Violation of traffic management signals, violation of traffic regulations, dangerous driving, or lack of power to keep up with the vehicle in front, etc.
当车辆联合驾驶的目标完成后，联合自动驾驶方案结束，车辆之间的连接装置断开后，车辆按照各自行驶目标各自行驶或停车。When the goal of the joint driving of the vehicles is completed, the joint automatic driving scheme ends, and after the connection device between the vehicles is disconnected, the vehicles drive or stop according to their respective driving goals.
本发明的基于智能交通系统的车辆联合行驶方法，可以在行驶的全过程中，根据实际情况随时智能调配车辆，保证车辆全程适合行驶。例如：可以是调配后的车辆或车辆组，经过一段时间行驶后，发现调配效果不佳，由本发明的基于智能交通系统的车辆联合行驶方法根据当前的情况重新调配车辆；也可以是车辆行驶过程中，车况发生变化，导致之前的调配方案不能满足需求，由本发明的基于智能交通系统的车辆联合行驶方法重新调配车辆，等等。The vehicle joint driving method based on the intelligent transportation system of the present invention can intelligently allocate vehicles at any time according to the actual situation during the whole process of driving, so as to ensure that the vehicles are suitable for driving in the whole process. For example: it can be a deployed vehicle or a vehicle group. After a period of driving, it is found that the deployment effect is not good, and the vehicle is re-allocated according to the current situation by the vehicle joint driving method based on the intelligent transportation system of the present invention; it can also be a vehicle driving process. If the vehicle condition changes, the previous deployment scheme cannot meet the demand, and the vehicle is re-allocated by the intelligent transportation system-based vehicle joint driving method of the present invention, and so on.
通过本发明的基于智能交通系统的车辆联合行驶方法，将智能交通技术与车辆联合行驶有机结合，更好地利用现有的车辆，提升汽车的利用率和效率。The intelligent transportation system-based vehicle joint driving method of the present invention organically combines the intelligent transportation technology and the vehicle joint driving, makes better use of the existing vehicles, and improves the utilization rate and efficiency of the vehicle.
本发明第二实施例参阅图2。图2是本发明第二实施例一种基于智能交通系统的车辆联合行驶系统的示意图。如图所示，本发明的基于智能交通系统的车辆联合行驶系统，包括服务器20和通讯模块21；Refer to FIG. 2 for the second embodiment of the present invention. FIG. 2 is a schematic diagram of a vehicle combined driving system based on an intelligent transportation system according to a second embodiment of the present invention. As shown in the figure, the vehicle combined driving system based on the intelligent transportation system of the present invention includes a
服务器20获取车辆行驶的目的信息；The
通讯模块21从智能交通系统获取道路信息、路况信息及车辆信息；The communication module 21 obtains road information, road condition information and vehicle information from the intelligent transportation system;
服务器20通过获取的信息分析出车辆行驶的需求信息，判断当前车辆是否满足行驶的需求，如果否，则根据实际情况调配联合行驶的车辆；The
通讯模块21从智能交通系统获取规划路线及自动驾驶方案传输至所述车辆，指引司机或自动驾驶车辆或辅助驾驶车辆行驶。The communication module 21 obtains the planned route and the automatic driving scheme from the intelligent transportation system and transmits it to the vehicle, so as to guide the driver or the automatic driving vehicle or the assisted driving vehicle to drive.
本发明的一种基于智能交通系统的车辆联合行驶系统是采用本发明的一种基于智能交通系统的车辆联合行驶方法构成的，结构特征一一对应，可以参照前述一种基于智能交通系统的车辆联合行驶方法的说明，在此不再赘述。A vehicle joint driving system based on an intelligent transportation system of the present invention is composed of a vehicle joint driving method based on an intelligent transportation system of the present invention, and the structural features are in one-to-one correspondence. The description of the combined driving method will not be repeated here.
本发明第三实施例参阅图3。图3是本发明第三实施例一种助力车的示意图。如图所示，助力车30包括动力装置31，动力装置31用于为助力车30提供动力，助力车30可为联合行驶的车辆提供补充动力/防滑能力/制动能力或者减少其轮胎压强。Refer to FIG. 3 for the third embodiment of the present invention. FIG. 3 is a schematic diagram of a moped according to the third embodiment of the present invention. As shown in the figure, the
在本实施例中，助力车30通过向联合行驶的车辆提供行进方向的拉力来提供动力。In the present embodiment, the
助力车还可以为当前车辆提供补充防滑能力/制动能力。提供补充防滑能力/制动能力的助力车可能是有更短的制动距离，或者使用了摩擦力更大的防滑轮胎，或者是使用履带的车辆，还包括利用助力车的刹车以及发动机的制动作用等，以增加当前车辆的防滑能力/制动能力。Mopeds can also provide supplemental anti-skid/braking capabilities to the current vehicle. The mopeds that provide supplementary anti-skid/braking capabilities may have shorter braking distances, or use anti-skid tires with greater friction, or use tracked vehicles, including the use of moped braking and engine braking etc. to increase the anti-skid/braking capability of the current vehicle.
助力车还可以为当前车辆减少轮胎压强。当当前车辆的轮胎施予路面压强超过路面承受压强上限或者轮胎胎压超过自身轮胎压强/压力上限时，通过与助力车联合行驶，可以起到增加整体车辆与路面的接触面积的效果，可将一部分车辆重量分散到助力车上，从而减少当前车辆的轮胎压强。例如助力车可以连接到当前车辆的底部，分担车辆轮胎压力。Mopeds can also reduce tire pressure for the current vehicle. When the road surface pressure applied by the current vehicle's tires exceeds the upper limit of the road surface pressure or the tire pressure exceeds the upper limit of the tire pressure/pressure limit of the vehicle itself, the joint driving with a moped can increase the contact area between the entire vehicle and the road surface. The vehicle weight is distributed to the moped, thereby reducing the tire pressure of the current vehicle. For example, a moped can be attached to the bottom of the current vehicle to share the tire pressure of the vehicle.
助力车30可以是只包括动力装置31和车轮组，没有车厢及驾驶员，通过自动驾驶装置实现助力车30的自动驾驶。车轮组可以包括1个、2个或2个以上车轮。助力车的轮胎根据用途可以为防滑轮胎、履带式轮胎、破冰防滑轮等。助力车还可以使用滑雪板和履带来实现雪地的移动。The power-assisted
助力车还可以包括信息采集装置、通讯装置、控制装置、储能装置、连接装置中的一个或多个，所述信息采集装置用于采集道路信息、车辆信息、路况信息等；所述通讯装置用于接收自动驾驶方案，还可以反馈道路信息、路况信息或车辆信息等；所述控制装置用于控制助力车；所述储能装置用于储存能量；所述连接装置用于将助力车与联合行驶车辆相连接。The moped may also include one or more of an information collection device, a communication device, a control device, an energy storage device, and a connection device, and the information collection device is used to collect road information, vehicle information, road condition information, etc.; In order to receive the automatic driving plan, it can also feed back road information, road condition information or vehicle information; the control device is used to control the moped; the energy storage device is used to store energy; the connection device is used to connect the moped with the combined driving vehicle connected.
助力车的储能装置还能通过制动储能，如带有刹车储能发电设备。The energy storage device of the moped can also store energy through braking, such as a power generation device with braking energy storage.
助力车还可以包括支撑装置，用于支撑连接车辆。助力车可以作为智能拖车，当当前车辆不能继续行驶时，助力车/助力车组连接到当前车辆，通过支撑装置将当前车辆抬离地面，支撑装置可以支撑在当前车辆底部也可以支撑在车辆轮胎，然后自动驾驶将当前车辆移动至目的地。助力车/助力车组还可以作为停车/挪车的辅助车辆，当当前车辆所在停车位或准备停车的车位的空间狭小，不便于车辆出入时，可以通过将助力车/助力车组连接到当前车辆，利用支撑装置将当前车辆抬离地面，然后自动驾驶使当前车辆横向移动到合适位置。助力车可以单独发挥作用，也可以是助力车组联合发挥作用，相关车组车辆按照整体/联合自动驾驶方案行驶。The moped may also include support means for supporting the connected vehicle. The moped can be used as a smart trailer. When the current vehicle cannot continue to drive, the moped/moped group is connected to the current vehicle, and the current vehicle is lifted off the ground through the support device. The support device can be supported on the bottom of the current vehicle or on the tires of the vehicle, and then automatically Driving moves the current vehicle to the destination. The moped/moped group can also be used as an auxiliary vehicle for parking/moving. When the parking space where the current vehicle is located or the parking space to be parked is small and inconvenient for the vehicle to enter and exit, you can connect the moped/moped group to the current vehicle and use the support The device lifts the current vehicle off the ground, and then automatically drives the current vehicle laterally to a suitable position. The mopeds can play a role alone, or they can be combined to play a role in the mopeds, and the vehicles of the related car groups drive according to the overall/joint automatic driving scheme.
助力车还可以包括平衡装置，用于保持助力车的平衡。当助力车只有一个轮子或两个轮子时，助力车还需要通过平衡装置保持助力车的平衡。平衡装置可以是机械的平衡装置，也可以是通过陀螺仪等电子装置实现平衡的装置，如图4所示。平衡装置实现助力车平衡的方法之一可以参见平衡车。The moped may also include a balancing device for maintaining the balance of the moped. When the moped has only one wheel or two wheels, the moped also needs to maintain the balance of the moped through the balance device. The balancing device may be a mechanical balancing device, or a device that achieves balancing through an electronic device such as a gyroscope, as shown in FIG. 4 . One of the methods for the balance device to achieve the balance of the moped can be found in the balance bike.
在本发明中，为联合行驶的车辆提供补充动力/防滑能力/制动能力或者减少其轮胎压强的助力车，可以是普通的具备富余动力/防滑能力/制动能力或者可以减少其轮胎压强的一般车辆，也可以是本实施例中的无人驾驶专门提供动力/防滑能力/制动能力或者减少其轮胎压强的助力车，本发明不作限制。In the present invention, a power-assisted vehicle that provides supplementary power/anti-skid capability/braking capability or reduces its tire pressure for a combined driving vehicle may be an ordinary power-assisted vehicle with excess power/anti-skid capability/braking capability or can reduce its tire pressure. The vehicle may also be an unmanned vehicle in this embodiment that specifically provides power/anti-skid capability/braking capability or reduces its tire pressure, which is not limited in the present invention.
本发明的一种基于智能交通系统的车辆联合行驶方法、系统及助力车，既可以用于普通道路，也可以用于轨道交通。助力车的轮胎可以根据不同行驶条件进行更换/调整。The method, system and power-assisted vehicle for combined vehicle driving based on an intelligent traffic system of the present invention can be used for both ordinary roads and rail traffic. The tires of the moped can be changed/adjusted according to different driving conditions.
综上所述，本发明的一种基于智能交通系统的车辆联合行驶方法、系统及助力车，通过获取车辆行驶的目的信息、道路信息、路况信息及车辆信息，通过获取的信息分析出车辆行驶的需求信息，判断当前车辆是否满足行驶的需求，如果否，则根据实际情况调配联合行驶的车辆，规划路线，指引司机或自动驾驶车辆或辅助驾驶车辆行驶。通过将智能交通技术与车辆联合行驶有机结合的方法，更好地利用现有的车辆，当现有车辆不能满足的特殊使用需求时，调配其他车辆与现有车辆联合使用来满足使用需求，提升汽车的利用率和效率。To sum up, the present invention provides a method, system and power-assisted vehicle for combined driving of vehicles based on an intelligent transportation system. Demand information, determine whether the current vehicle meets the driving requirements, if not, deploy the joint driving vehicle according to the actual situation, plan the route, and guide the driver or the automatic driving vehicle or the assisted driving vehicle to drive. Through the organic combination of intelligent transportation technology and vehicle joint driving, the existing vehicles can be better utilized. When the existing vehicles cannot meet the special needs of use, other vehicles can be deployed in conjunction with the existing vehicles to meet the needs of use. Vehicle utilization and efficiency.
以上所述的具体实施方式，对本发明的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本发明的具体实施方式而已，并不用于限定本发明的保护范围，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The specific embodiments described above further describe the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above descriptions are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.
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