阅读说明：本技术 一种无人驾驶车辆加入编组行驶的方法 (Method for enabling unmanned vehicle to enter marshalling for running ) 是由 彭挺 杨克胜 苏权科 李源 李俊 周桃琰 吴恒 刘洁 张星婕 李纪亭 胡旭 王 于 2021-09-28 设计创作，主要内容包括：本发明公开了一种无人驾驶车辆加入编组行驶的方法,涉及无人驾驶技术领域,车辆之间和道路管理系统均使用同一协议,可以实时两两信息交互。车辆的加入编组行驶是通过车载终端向道路管理系统发送加入编组行驶申请,道路管理系统查询到适合的编组,然后通过时空锁定方法让车辆加入编组行驶。在此过程中,道路管理系统会对无人驾驶车辆及车辆编组锁定时空确保交通安全。无人驾驶车辆进行编组行驶,能够有效提高道路利用率、通行能力和安全性。所有无人驾驶车辆和道路管理系统使用统一的控制协议,能够实现所有无人驾驶车辆和道路管理系统间的实时信息交互,更加方便管理和安全。(The invention discloses a method for joining marshalling and driving of unmanned vehicles, and relates to the technical field of unmanned driving. The vehicle joining marshalling running is that a vehicle-mounted terminal sends a request for joining marshalling running to a road management system, the road management system inquires a proper marshalling, and then the vehicle is joined into marshalling running through a space-time locking method. In the process, the road management system can ensure the traffic safety when the unmanned vehicles and the vehicle groups are locked. The unmanned vehicles are grouped to run, so that the road utilization rate, the traffic capacity and the safety can be effectively improved. All the unmanned vehicles and the road management system use a unified control protocol, so that real-time information interaction between all the unmanned vehicles and the road management system can be realized, and the unmanned vehicles and the road management system are more convenient to manage and safe.)

1. A method of joining a consist drive for an unmanned vehicle, comprising the steps of:

step 1: on a road on which the unmanned vehicles run, the unmanned vehicles which do not join in the marshalling running need to join in the marshalling running, and a request for joining in the marshalling running is sent to a road management system through a vehicle-mounted terminal, wherein the request content comprises information such as vehicle types, vehicle speeds and destinations;

step 2: after receiving a request for joining a marshalling and running from a vehicle, a road management system inquires whether information such as the vehicle type, the vehicle speed and the destination of the vehicle is matched with the information such as the vehicle type, the vehicle speed and the destination of the vehicle to be applied by judging the information such as the vehicle type, the vehicle speed and the destination contained in the request, and is suitable for a marshalling and running fleet for joining the vehicle to be applied;

and step 3: if the marshalling information suitable for the vehicle is not inquired, the road management system refuses the application of the vehicle to join the marshalling for running and then executes the step 1; the method comprises the steps that a marshalling motorcade suitable for a vehicle is inquired, a road management system sends matching information to an unmanned vehicle and the marshalling motorcade, and meanwhile, the road management system carries out space-time locking when the vehicle is added into the marshalling to run and sends the space-time locking information to the unmanned vehicle and the marshalling motorcade together;

and 4, step 4: after receiving a driving command which can be added into the marshalling and is sent by a road management system, the unmanned vehicle drives into the marshalling motorcade according to the space-time lock distributed by the road management system, and the vehicle is added into the marshalling and is driven to be finished.

2. The method of claim 1, wherein the space-time locking is performed from the current time to the next period of each unmanned vehicle, the road management system allocates a space, the starting point of the space is the initial position of the vehicle in one period, the ending point of the space is the position of the vehicle which is driven to the end of one period plus the safety distance, and the width direction is the width of the vehicle plus the lateral safety distance on the left and right sides.

3. The method of claim 1, wherein the unmanned vehicles and the grouped fleet are driven on the road in a time-space locking manner, the road management system regards vehicles not added to the grouped train as a unit, the grouped train is regarded as a unit, each unit is subjected to time-space locking by the road management system in a period, the time-space locking is updated at the beginning of the next period, and the time-space locking between different units does not exist overlapping intersection in the same time space.

4. The method of claim 1, wherein the road management system is a segmented management system, i.e. a road is divided into multiple segments, each segment has a management system for managing the segment, and the management systems in different segments can communicate with each other in real time to exchange information.

5. The method as claimed in claim 1, wherein the road management system is capable of receiving and transmitting various information from the unmanned vehicles and other segment management systems, automatically determining whether there is a group running fleet suitable for the unmanned vehicles to join, and performing time-space locking on the unmanned vehicles and the group running fleet.

6. The method as claimed in claim 1, wherein the road management system and the unmanned vehicle use a unified space-time locking control protocol, and real-time interaction between two information can be realized.

7. The method of claim 1, wherein the road on which the unmanned vehicles travel is a road on which only unmanned vehicles are allowed to travel, the road may have a plurality of grouped fleets simultaneously, the number of the grouped fleets is not limited, the grouped fleets are a single fleet in the same lane, that is, the vehicles in the group are arranged in tandem, and the number of the vehicles in the grouped fleets is not limited.

8. The method of claim 1, wherein in step 2, the group running fleet suitable for joining the application vehicles is substantially consistent in vehicle type, vehicle speed, destination, and the like, for example, the vehicle type is car, the vehicle speed of the application vehicle is within 10% of that of the group running fleet, and the destinations are the same.

9. The method for the unmanned vehicle to join in the formation for running according to claim 1, wherein in the step 4, when the vehicle joins in the formation, two modes of joining at the head of the formation and joining at the tail of the formation are included:

the following is a further explanation of the head-of-line joining and tail-of-line joining formation travel:

the queue head is added specifically as follows: vehicles applying to join in the marshalling travel enter the most front end of the marshalling fleet when joining in the marshalling. When the vehicles apply to join the marshalling in the same row, the road management system distributes the marshalling which is most suitable for the vehicles to join; if the group is behind the vehicle, the vehicle is joined to the forefront of the fleet;

the queue tail is added specifically as follows: when a vehicle applying for joining in the marshalling for running is joined in the marshalling, the vehicle is driven to the rearmost end of a marshalling fleet, the vehicle applies for joining in the same marshalling, and the road management system distributes the most suitable marshalling for joining the vehicle; if the consist is in front of the vehicle, the vehicle joins the rearmost of the platoon.

Technical Field

The invention relates to the technical field of unmanned driving, in particular to a method for enabling an unmanned vehicle to enter marshalling for running.

Background

The traditional manned automobile has the defects that the technical level, the psychological quality, the on-site reaction capability and other factors of drivers are different, so that the unified allocation of vehicles running on a road is difficult, and the utilization rate of the road cannot be released to the maximum.

Unmanned vehicles develop rapidly at the present stage. With the rapid development of unmanned vehicle technology, vehicle marshalling has also received attention. The unmanned vehicles are uniformly allocated, and the possibility of a marshalling driving mode is greatly improved. Compared with the vehicle marshalling formed by the manned vehicles, the vehicle marshalling formed by the unmanned vehicles avoids individual difference of the manned vehicle drivers due to the adoption of the unified regulation and control of the management system, greatly improves controllability and harmony, and has feasibility. In the process of adding unmanned vehicles into marshalling for running, normal running of other vehicles is easily influenced, the phenomenon of traffic jam occurs, and the instantaneous traffic capacity of roads is reduced. How to safely and quickly join an unmanned vehicle into a vehicle marshalling for running without influencing the normal running of other vehicles is a problem which needs to be solved urgently at present. The invention provides a method for locking time and space of unmanned vehicles to enter marshalling for driving by adopting a road management system, aiming at the problem that the vehicles enter marshalling during the marshalling driving of the unmanned vehicles.

Disclosure of Invention

The invention aims to provide a method for joining marshalling driving of an unmanned vehicle. On the road on which the unmanned vehicle runs, different vehicles, vehicle marshalling and road management systems adopt the same control protocol, and real-time communication and information interaction among the different vehicles, the different marshalling and road management systems can be realized.

The technical scheme adopted by the invention is as follows: a method of joining a consist drive for an unmanned vehicle, comprising the steps of:

step 1: on a road on which the unmanned vehicles run, the unmanned vehicles which do not join in the marshalling running need to join in the marshalling running, and a request for joining in the marshalling running is sent to a road management system through a vehicle-mounted terminal, wherein the request content comprises information such as vehicle types, vehicle speeds and destinations;

step 2: after receiving a request for joining the marshalling running from a vehicle, a road management system inquires whether a marshalling running fleet suitable for joining the vehicle to be applied exists or not by judging information such as vehicle type, vehicle speed and destination contained in the request;

and step 3: if the marshalling information suitable for the vehicle is not inquired, the road management system refuses the application of the vehicle to join the marshalling for running and then executes the step 1; the method comprises the steps that a marshalling motorcade suitable for a vehicle is inquired, a road management system sends matching information to an unmanned vehicle and the marshalling motorcade, and meanwhile, the road management system carries out space-time locking when the vehicle is added into the marshalling to run and sends the space-time locking information to the unmanned vehicle and the marshalling motorcade together;

and 4, step 4: after receiving a driving command which can be added into the marshalling and is sent by a road management system, the unmanned vehicle drives into the marshalling motorcade according to the space-time lock distributed by the road management system, and the vehicle is added into the marshalling and is driven to be finished.

Preferably, the space-time locking is that in the next period from the current time to the next period of each unmanned vehicle, the road management system allocates a space, the starting point of the space is the initial position of the vehicle in one period, the end point of the space is the position of the vehicle which is driven at the end of one period plus the safety distance, and the width direction is the width of the vehicle plus the lateral safety distances on the left and right sides.

Preferably, the unmanned vehicles and the marshalling fleet are driven on the road in a space-time locking manner. The road management system regards a vehicle that is not involved in the formation travel as a unit, and a vehicle group that is involved in the formation travel as a unit. And each unit is subjected to space-time locking by the road management system in a period, and the space-time locking is updated at the beginning of the next period. Space-time locking between different units does not have overlapping intersection in the same time space.

Preferably, the road management system is a segmented management system. The road is divided into a plurality of sections, each section is internally provided with a management system for managing the section, and the management systems of different sections can communicate with each other in real time to exchange information.

Preferably, the road management system has functions of: the system receives and transmits various information from the unmanned vehicles and other segment management systems, and automatically judges whether a marshalling running fleet suitable for the unmanned vehicles to join, and performs time-space locking on the unmanned vehicles and the marshalling running fleet and the like.

Preferably, the road management system and the unmanned vehicle use a unified space-time locking control protocol, and real-time interaction of information of the road management system and the unmanned vehicle can be realized.

Preferably, the road on which the unmanned vehicle runs is a road on which only the unmanned vehicle is allowed to run. The road can simultaneously exist a plurality of grouped fleets, and the number of the grouped fleets is not limited.

Preferably, the grouped vehicle fleet is a line of vehicle fleets in the same lane, that is, the vehicles in the grouped vehicle fleet are all arranged in tandem.

Preferably, the number of vehicles in the grouping fleet is not limited.

Preferably, in step 2, the formation running fleet suitable for the application vehicle to join means that the formation running fleet is substantially consistent in terms of vehicle type, vehicle speed, destination, and the like. For example, the vehicle types are cars, the vehicle speed difference between the applied vehicle and the formation running fleet is within 10%, and the destinations are the same.

Preferably, in the step 4, when the vehicle joins the formation, two modes of joining at the head of the formation and joining at the tail of the formation are included.

The queue head is added specifically as follows: vehicles applying to join in the marshalling travel enter the most front end of the marshalling fleet when joining in the marshalling. When the vehicles apply to join the marshalling in the same row, the road management system distributes the marshalling which is most suitable for the vehicles to join; if the consist is behind the vehicle, the vehicle joins the front most of the platoon.

The queue tail is added specifically as follows: vehicles applying for joining the marshalling travel enter the marshalling at the last end of the marshalling fleet. When the vehicles apply to join the marshalling in the same row, the road management system distributes the marshalling which is most suitable for the vehicles to join; if the consist is in front of the vehicle, the vehicle joins the rearmost of the platoon.

Compared with the prior art, the invention has the following beneficial effects:

the vehicle-mounted unmanned vehicle can effectively improve the road utilization rate, traffic capacity and safety when the vehicle-mounted unmanned vehicle runs in a marshalling mode or a vehicle-mounted unmanned vehicle and a vehicle-mounted unmanned vehicle run in a mixed mode. All the unmanned vehicles and the road management system use a unified control protocol, so that real-time information interaction between all the unmanned vehicles and the road management system can be realized, and the unmanned vehicles and the road management system are more convenient to manage and safe.

By adopting the technical method that the vehicles locked in space and time by the road management system are added into marshalling for running, the marshalling among the vehicles is more convenient, quicker and more reasonable, the road utilization rate and the traffic capacity can be improved, the traffic congestion is relieved, and the energy is saved.

Drawings

FIG. 1 is a flow chart of an unmanned vehicle engaged in a consist trip;

FIG. 2 is a schematic representation of the unmanned vehicle spatiotemporal locking, where the various reference numbers have the meaning: 1-a single unmanned vehicle, 2-a space top view of a space-time lock of a vehicle, 3-a space top view of a space-time lock of a grouping fleet, and 4-a grouping traveling fleet.

Detailed Description

In order that the objects, technical solutions and advantages of the present invention will become more apparent, the present invention will be further described in detail with reference to the accompanying drawings in conjunction with the following specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention.

Example 1: vehicle queue tail joining marshalling running

Referring to fig. 1, there is shown a flowchart of an unmanned vehicle joining a consist driving using a space-time locking method using a road management system.

Step 1: on a road on which the unmanned vehicles run, the unmanned vehicles which do not join in the marshalling running need to join in the marshalling running, and a request for joining in the marshalling running is sent to a road management system through a vehicle-mounted terminal, wherein the request content comprises information such as vehicle types, vehicle speeds and destinations;

step 2: after receiving a request for joining in marshalling and running sent by a vehicle, a road management system inquires whether a marshalling motorcade suitable for the vehicle exists or not by judging information such as vehicle type, vehicle speed, destination and the like contained in the request;

and step 3: if the marshalling information suitable for the vehicle is not inquired, executing the step 1; the method comprises the steps that a marshalling motorcade suitable for a vehicle is inquired, a road management system sends matching information to the unmanned vehicle and the marshalling motorcade, and meanwhile, the road management system carries out time-space locking when the vehicle is added into the marshalling to run, specifies the time and space of the vehicle in the process of adding into the marshalling, and sends the time-space locking information to the unmanned vehicle and the marshalling motorcade together;

and 4, step 4: after the unmanned vehicle receives the ready-to-join marshalling running transmitted by the road management system, the target marshalling running fleet is in front of the unmanned vehicle, the unmanned vehicle runs to the position near the tail of the marshalling fleet to be joined, the unmanned vehicle drives into the preset position of the unmanned vehicle through the locking space distributed by the system, the unmanned vehicle joins in the marshalling at the tail of the fleet, and the newly-formed marshalling fleet is regarded as a unit by the road management system;

and 5: and the tail of the unmanned vehicle team is added into the marshalling and running action to finish.

Example 2: vehicle head joining marshalling running

Referring to fig. 1, there is shown a flowchart of an unmanned vehicle joining a consist driving using a space-time locking method using a road management system.

Step 1: on a road on which the unmanned vehicles run, the unmanned vehicles which do not join in the marshalling running need to join in the marshalling running, and a request for joining in the marshalling running is sent to a road management system through a vehicle-mounted terminal, wherein the request content comprises information such as vehicle types, vehicle speeds and destinations;

step 2: after receiving a request for joining in marshalling and running sent by a vehicle, a road management system inquires whether a marshalling motorcade suitable for the vehicle exists or not by judging information such as vehicle type, vehicle speed, destination and the like contained in the request;

and step 3: if the marshalling information suitable for the vehicle is not inquired, executing the step 1; the method comprises the steps that a marshalling motorcade suitable for a vehicle is inquired, a road management system sends matching information to the unmanned vehicle and the marshalling motorcade, and meanwhile, the road management system carries out time-space locking when the vehicle is added into the marshalling to run, specifies the time and space of the vehicle in the process of adding into the marshalling, and sends the time-space locking information to the unmanned vehicle and the marshalling motorcade together;

and 4, step 4: after the unmanned vehicle receives the ready-to-join marshalling running transmitted by the road management system, the target marshalling running fleet is behind the unmanned vehicle, the unmanned vehicle runs to the vicinity of the head of the marshalling fleet to be joined, the unmanned vehicle drives into the preset position of the unmanned vehicle through the locking space distributed by the system, the unmanned vehicle joins in the marshalling at the head of the fleet, and the newly-formed marshalling fleet is regarded as a unit by the road management system;

and 5: and the tail of the unmanned vehicle team is added into the marshalling and running action to finish.

It is worth noting that the vehicle joining the consist includes two ways of joining at the head of the line and joining at the tail of the line.

It should be noted that the formation traveling fleet suitable for the application vehicle joining means that the formation traveling fleet is substantially identical in terms of vehicle type, vehicle speed, destination, and the like. For example, the vehicle types are cars, the vehicle speed difference between the applied vehicle and the formation running fleet is within 10%, and the destinations are the same.

Preferably, the space-time locking is that in the next period from the current time to the next period of each unmanned vehicle, the road management system allocates a space, the starting point of the space is the initial position of the vehicle in one period, the end point of the space is the position of the vehicle which is driven at the end of one period plus the safety distance, and the width direction is the width of the vehicle plus the lateral safety distances on the left and right sides.

Reference is made to fig. 2, which is a schematic spatial view of the space-time locking of an unmanned vehicle. When space locking is performed, with D_iIndicating the locking distance of the vehicle in the direction of travel, D_jIndicating a lateral locking distance; when the speed difference deltav exists between the front and rear vehicles, the front and rear locking spacing of the vehicles should be changed correspondingly. The specific locking range is calculated according to the following formula:

D_i＝0.5v+0.3Δv

D_j＝0.7+|0.1v|

Δv＝v₂-v₁

wherein v is₂Is real time of the rear vehicleThe running speed; v. of₁Is the real-time running speed of the front vehicle. When Δ v > 0, the front-rear locking pitch of the vehicle is increased by 0.3 Δ v for safety, and conversely, is decreased.

Both unmanned vehicles and marshalling fleets are driven on roads in a space-time locked manner. The road management system regards a vehicle that is not involved in the formation travel as a unit, and a vehicle group that is involved in the formation travel as a unit. And each unit is subjected to space-time locking by the road management system in a period, and the space-time locking is updated at the beginning of the next period. Space-time locking between different units does not have overlapping intersection in the same time space.

The road management system is a segmented management system. The road is divided into a plurality of sections, each section is internally provided with a management system for managing the section, and the management systems of different sections can communicate with each other in real time to exchange information.

The road management system has the following functions: the system receives and transmits various information from the unmanned vehicles and other segment management systems, and automatically judges whether a marshalling running fleet suitable for the unmanned vehicles to join, and performs time-space locking on the unmanned vehicles and the marshalling running fleet and the like.

The road management system and the unmanned vehicle use a unified time-space locking control protocol, and real-time interaction of information of each two vehicles can be realized.

The grouped running vehicle fleet is a line of vehicle fleets in the same lane, namely, vehicles in the grouped train are all arranged in tandem. The number of vehicles in the group running fleet is not limited, i.e. a single vehicle can also be used as a group running fleet, allowing other vehicles to join the group running.