Driving method, device and equipment of formation vehicle and formation vehicle

文档序号：1954958 发布日期：2021-12-10 浏览：19次中文

阅读说明：本技术 一种编队车辆的行驶方法、装置、设备及编队车辆 (Driving method, device and equipment of formation vehicle and formation vehicle ) 是由房家奕车文耀于 2020-06-09 设计创作，主要内容包括：本发明提供了一种编队车辆的行驶方法、装置、设备及编队车辆。涉及通信技术领域。该编队车辆的行驶方法包括：确定编队内车辆经过目标弯道时的转弯速度限值；根据所述转弯速度限值,确定编队整体经过所述目标弯道时的目标转弯速度；在所述编队内发送所述目标转弯速度。本发明的方案能够实现编队车辆在弯路行驶时,保持统一且安全的转弯速度,从而避免了编队车辆在转弯过程中发生安全事故。(The invention provides a driving method, a driving device and driving equipment of formation vehicles and the formation vehicles. Relates to the technical field of communication. The driving method of the formation vehicle comprises the following steps: determining a turning speed limit value when the vehicles in the formation pass through a target curve; determining a target turning speed when the whole formation passes through the target curve according to the turning speed limit value; transmitting the target turning speed within the formation. The scheme of the invention can keep uniform and safe turning speed when the formation vehicle runs on a curved road, thereby avoiding safety accidents of the formation vehicle in the turning process.)

1. A method of driving a formation vehicle, the method comprising:

determining a turning speed limit value when the vehicles in the formation pass through a target curve;

determining a target turning speed when the formation passes through the target curve according to the turning speed limit value;

transmitting the target turning speed within the formation.

2. The method of claim 1, wherein determining the turn speed limit for a vehicle in a formation while traversing a target curve comprises:

receiving vehicle turning driving information sent by the vehicles in the formation; the vehicle turning travel information includes at least one of vehicle parameter information that affects a turning speed of a vehicle, a turning speed limit corresponding to a curve radius of the target curve, and a set of turning speed limits corresponding to different curve radii;

and determining the turning speed limit value when the vehicles in the formation pass through the target curve according to the vehicle turning running information.

3. The method of claim 2, wherein the vehicle turning driving information is transmitted within a convoy when a vehicle joins the convoy or when a vehicle detects a safety risk.

4. The method of traveling of a formation vehicle according to claim 2, characterized by further comprising:

sending request information to vehicles in the formation;

wherein the vehicle transmits the vehicle turning travel information in response to the request information.

5. The method of claim 4, wherein the sending request information to the vehicles within the formation comprises:

when the vehicles join the formation, or before the formation vehicles reach a first preset distance or a first preset time length of a target curve, request information is sent to the vehicles in the formation.

6. The method of traveling of a formation vehicle according to claim 2, wherein the vehicle parameter information includes at least one of:

the vehicle self weight, the cargo weight, the height of the center position of the vehicle, the height of the center position of the mass of the vehicle, the cargo height, the type of cargo, the vehicle wheelbase and the basic information of formation driving.

7. The method of driving a convoy vehicle according to claim 1, wherein said step of determining a target turning speed at which convoy passes through said target curve based on said turning speed limit value comprises:

determining the minimum value of the upper speed limit values in the turning speed limit values when the vehicles in the formation pass through the target curve;

determining that the target turning speed is less than or equal to a minimum value of the upper speed limit.

8. The method of claim 1, wherein the step of determining a target turning speed at which the vehicle is to be formed through the target curve based on the turning speed limit comprises:

determining the minimum value of the upper speed limit and the maximum value of the lower speed limit in the turning speed limit values when the vehicles in the formation pass through the target curve;

determining that the target turning speed is less than or equal to the minimum value of the upper speed limit and greater than or equal to the maximum value of the lower speed limit.

9. The method of driving a convoy vehicle according to claim 1, wherein said step of determining a target turning speed at which convoy passes through said target curve based on said turning speed limit value further comprises:

acquiring road congestion information;

determining an expected turning speed when the formation passes through the target curve according to the road congestion information;

determining the minimum value of the upper speed limit values in the turning speed limit values when the vehicles in the formation pass through the target curve;

determining the smaller of the expected turning speed and the minimum value of the upper speed limit as the target turning speed.

10. A method of driving a formation vehicle, the method comprising:

receiving a target turning speed sent in a formation, wherein the target turning speed is the turning speed of the formation when passing through a target curve;

driving on the target curve at the target turning speed.

11. The method of driving a formation vehicle according to claim 10, wherein the step of receiving the target turning speed transmitted in the formation is preceded by:

transmitting vehicle turning driving information in the formation;

wherein the vehicle turning travel information includes at least one of vehicle parameter information that affects a turning speed of a vehicle, a turning speed limit corresponding to a curve radius of the target curve, and a set of turning speed limits corresponding to different curve radii.

12. The method of claim 11, wherein the step of transmitting vehicle turning driving information within the formation comprises:

and when the vehicles join the formation or safety risk is detected, transmitting vehicle turning driving information in the formation.

13. The method of driving a formation vehicle according to claim 11, wherein the step of receiving the target turning speed transmitted in the formation is preceded by:

receiving request information sent in a formation;

transmitting the vehicle turning travel information within the formation in response to the request information.

14. The method of claim 13, wherein the request message is sent within the convoy when vehicles join the convoy or before a convoy vehicle reaches a first preset distance or a first preset duration of a target curve.

15. The method of traveling of a formation vehicle according to claim 11, wherein the vehicle parameter information includes at least one of:

16. A driving control apparatus of a formation vehicle, a transceiver, a memory, a processor and a program stored on the memory and operable on the processor; wherein the processor is configured to read a program in the memory and execute the following processes:

determining a turning speed limit value when the vehicles in the formation pass through a target curve;

determining a target turning speed when the formation passes through the target curve according to the turning speed limit value;

transmitting the target turning speed within the formation.

17. A driving control device for a convoy vehicle according to claim 16, wherein said processor, when determining a turning speed limit at which the vehicle passes a target curve in the convoy, is specifically adapted to:

and determining the turning speed limit value when the vehicles in the formation pass through the target curve according to the vehicle turning running information.

18. The running control apparatus of formation vehicles according to claim 17, wherein the vehicle turning running information is transmitted within a formation when a vehicle joins the formation, or when a vehicle detects a safety risk.

19. The formation vehicle running control apparatus according to claim 17, wherein the processor is further configured to:

sending request information to vehicles in the formation;

wherein the vehicle transmits the vehicle turning travel information in response to the request information.

20. The formation vehicle travel control apparatus according to claim 19, wherein the processor, when sending request information to the vehicles within the formation, is specifically configured to:

when the vehicles join the formation, or before the formation reaches a first preset distance or a first preset time length of a target curve, request information is sent to the vehicles in the formation.

21. The running control apparatus of a formation vehicle according to claim 17, characterized in that the vehicle parameter information includes at least one of:

the vehicle self weight, the cargo weight, the height of the center position of the vehicle, the cargo height, the height of the center position of the mass of the vehicle, the type of cargo, the wheel base of the vehicle and the basic information of formation driving.

22. The running control apparatus of a convoy vehicle according to claim 16, wherein said processor, when determining the target turning speed at which the convoy as a whole passes through said target curve based on said turning speed limit, is specifically configured to:

determining the minimum value of the upper speed limit values in the turning speed limit values when the vehicles in the formation pass through the target curve;

determining that the target turning speed is less than a minimum value of the upper speed limit.

23. The running control apparatus of a convoy vehicle according to claim 16, wherein said processor, when determining the target turning speed at which the convoy as a whole passes through said target curve based on said turning speed limit, is specifically configured to:

determining that the target turning speed is less than or equal to the minimum value of the upper speed limit and greater than or equal to the maximum value of the lower speed limit.

24. The driving control apparatus of a convoy vehicle according to claim 16, wherein said processor, when determining the target turning speed at which convoy passes through said target curve based on said turning speed limit, is further specifically configured to:

acquiring road congestion information;

determining an expected turning speed of the formation vehicles when the formation vehicles pass through the target curve according to the road congestion information;

determining the minimum value of the upper speed limit values in the turning speed limit values when the vehicles in the formation pass through the target curve;

determining the smaller of the expected turning speed and the minimum value of the upper speed limit as the target turning speed.

25. A convoy vehicle, a transceiver, a memory, a processor and a program stored on said memory and executable on said processor; wherein the processor is configured to read a program in the memory and execute the following processes:

receiving a target turning speed sent in a formation, wherein the target turning speed is the turning speed of the formation when passing through a target curve;

driving on the target curve at the target turning speed.

26. The convoy vehicle of claim 25, wherein said processor, prior to the step of receiving the target turning speed transmitted within the convoy, is further configured to:

transmitting vehicle turning driving information in the formation;

27. A convoy vehicle as claimed in claim 26, wherein said processor, when transmitting vehicle turn driving information within the convoy, is specifically configured to:

and when the vehicles join the formation or safety risk is detected, transmitting vehicle turning driving information in the formation.

28. The convoy vehicle of claim 26, wherein said processor, prior to the step of receiving the target turning speed transmitted within the convoy, is further configured to:

receiving request information sent in a formation;

transmitting the vehicle turning travel information within a formation in accordance with responding to the request information.

29. The convoy vehicle of claim 28, wherein the request message is sent within the convoy when a vehicle joins the convoy, or before the convoy reaches a first predetermined distance or a first predetermined length of time to a target curve.

30. The convoy vehicle of claim 26, wherein said vehicle parameter information comprises at least one of:

31. A running device of a formation vehicle, characterized by comprising:

the first determination module is used for determining the turning speed limit value when the vehicles in the formation pass through the target curve;

the second determining module is used for determining the target turning speed when the whole formation passes through the target curve according to the turning speed limit value;

a sending module for sending the target turning speed within the formation.

32. A running device of a formation vehicle, characterized by comprising:

the receiving module is used for receiving the target turning speed sent in the formation, and the target turning speed is the turning speed when the formation passes through the target curve;

a control module to drive on the target curve at the target turning speed.

33. A readable storage medium on which a program is stored, which program, when being executed by a processor, carries out the steps of the method of driving a formation vehicle according to any one of claims 1 to 9, or carries out the steps of the method of driving a formation vehicle according to any one of claims 10 to 15.

Technical Field

The invention relates to the technical field of communication, in particular to a driving method and device for formation vehicles and the formation vehicles.

Background

C-V2X is a cellular network based car networking technology. Wherein, C is Cellular, V2X is vehicle-to-observing, which means the information exchange between the vehicle and the outside.

In recent years, C-V2X is moving from information service applications to traffic safety and efficiency applications, and formation driving, which is one of important application scenarios, involves different driving operations such as uniform speed driving, acceleration driving, deceleration driving, and curved road driving.

At present, no better solution is provided at present for how to keep a uniform and safe running speed when a formation vehicle runs on a curved road so as to prevent safety accidents in the turning process of the vehicle.

Disclosure of Invention

The invention provides a driving method, a device and equipment of a formation vehicle and the formation vehicle, which solve the problem that how to keep a uniform and safe turning speed when the formation vehicle drives on a curved road in the prior art so as to prevent safety accidents from occurring in the turning process of the vehicle.

An embodiment of the present invention provides a method of driving formation vehicles, the method including:

determining a turning speed limit value when the vehicles in the formation pass through a target curve;

determining a target turning speed when the formation passes through the target curve according to the turning speed limit value;

transmitting the target turning speed within the formation.

Embodiments of the present invention also provide a method of driving formation vehicles, the method including:

receiving a target turning speed sent in a formation, wherein the target turning speed is the turning speed of the formation when passing through a target curve;

driving on the target curve at the target turning speed.

Embodiments of the present invention also provide a driving control apparatus of a formation vehicle, a transceiver, a memory, a processor, and a program stored on the memory and executable on the processor; the processor is used for reading the program in the memory and executing the following processes:

determining a turning speed limit value when the vehicles in the formation pass through a target curve;

determining a target turning speed when the formation passes through the target curve according to the turning speed limit value;

transmitting the target turning speed within the formation.

Embodiments of the present invention also provide a convoy vehicle, a transceiver, a memory, a processor, and a program stored on the memory and executable on the processor; the processor is used for reading the program in the memory and executing the following processes:

receiving a target turning speed sent in a formation, wherein the target turning speed is the turning speed of the formation when passing through a target curve;

driving on the target curve at the target turning speed.

An embodiment of the present invention also provides a running device of a formation vehicle, including:

the first determination module is used for determining the turning speed limit value when the vehicles in the formation pass through the target curve;

the second determining module is used for determining the target turning speed when the whole formation passes through the target curve according to the turning speed limit value;

a sending module for sending the target turning speed within the formation.

An embodiment of the present invention also provides a running device of a formation vehicle, including:

the receiving module is used for receiving a target turning speed sent in the formation, and the target turning speed is the turning speed when the formation passes through a target curve;

a control module to drive on the target curve at the target turning speed.

Embodiments of the present invention also provide a readable storage medium having stored thereon a program that, when executed by a processor, implements the steps of the method of driving a convoy vehicle as described above.

The technical scheme of the invention has the beneficial effects that:

according to the scheme, the turning speed limit value of the vehicles in the formation when passing through the target curve is determined; determining a target turning speed when the whole formation passes through the target curve according to the turning speed limit value; and sending the target turning speed in the formation, and when the formation vehicle runs on a curved road, the uniform and safe running speed can be kept, so that safety accidents in the turning process of the vehicle are effectively avoided.

Drawings

FIG. 1 shows one of the flow charts of a method of driving a formation vehicle according to an embodiment of the present invention;

FIG. 2 illustrates a turn driving diagram of a convoy vehicle according to an embodiment of the present invention;

FIG. 3 illustrates a second flow chart of a method of driving formation vehicles in accordance with an embodiment of the present invention;

FIG. 4 illustrates a third flow chart of a method of driving formation vehicles in accordance with an embodiment of the present invention;

FIG. 5 is a schematic diagram illustrating turning speed limits for a convoy vehicle in accordance with an embodiment of the present invention;

FIG. 6 is a fourth flowchart of a method of driving a formation vehicle according to an embodiment of the present invention;

FIG. 7 shows one of block diagrams of a running device of a convoy vehicle according to the embodiment of the present invention;

fig. 8 shows a second block diagram of a running device of a convoy vehicle according to the embodiment of the present invention;

FIG. 9 shows one of the block diagrams of a convoy vehicle according to the embodiment of the present invention;

fig. 10 shows a second block diagram of a convoy vehicle according to the embodiment of the present invention.

Detailed Description

In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following detailed description is made with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help the full understanding of the embodiments of the present invention. Accordingly, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

In various embodiments of the present invention, it should be understood that the sequence numbers of the following processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

In addition, the terms "system" and "network" are often used interchangeably herein.

In the examples provided herein, it is understood that "B corresponding to A" means that B is associated with A, from which B can be determined. It should also be understood that determining B from a does not mean determining B from a alone, but may be determined from a and/or other information.

In the embodiment of the present invention, the access network may be an access network including a Macro Base Station (Macro Base Station), a micro Base Station (Pico Base Station), a Node B (3G mobile Station), an enhanced Base Station (eNB), a Home enhanced Base Station (Femto eNB or Home eNode B or Home eNB or HeNB), a relay Station, an access point, an RRU (Remote Radio Unit), an RRH (Remote Radio Head), and the like. The user terminal may be a mobile phone (or handset), or other device capable of sending or receiving wireless signals, including user Equipment, a Personal Digital Assistant (PDA), a wireless modem, a wireless communicator, a handheld device, a laptop computer, a cordless phone, a Wireless Local Loop (WLL) station, a CPE (Customer premises Equipment) or a mobile smart hotspot capable of converting mobile signals into WiFi signals, a smart appliance, or other devices capable of autonomously communicating with a mobile communication network without human operation, etc.

For formation driving, when a formation vehicle drives to a turning road section, a pilot vehicle sends formation driving related service information to following vehicles, and after all following vehicles in the formation receive the service information of the pilot vehicle, the following vehicles adjust turning speed according to the service information to drive at a turning road end and feed back the service information to the pilot vehicle.

However, in practical applications, it is found that when a formation vehicle travels to a turning road end, due to different factors such as load, center of gravity position height, and vehicle roll performance design among the vehicles, the safe traveling speed limit (i.e., safe traveling speed) of each vehicle when each vehicle passes through the same curve is different, for example, when a lead vehicle in the formation vehicle is an empty vehicle and a following vehicle has a full-load vehicle, the lead vehicle sends service information to the following vehicle according to its own empty turning speed, and if the turning speed required in the service information exceeds the safe traveling speed upper limit of any full-load vehicle in the following vehicle, the following vehicle may turn over at the required turning speed, and safety accidents are easily caused. However, when the formation vehicles run on a curved road, how to keep a uniform and safe running speed to prevent the occurrence of safety accidents in the turning process of the vehicles does not have a better solution at present.

Specifically, the embodiment of the invention provides a driving method and a driving device for formation vehicles and the formation vehicles, and solves the problem of how to keep a uniform and safe driving speed when the formation vehicles drive on a curved road so as to prevent safety accidents in the turning process of the vehicles.

First embodiment

As shown in fig. 1, an embodiment of the present invention provides a driving method for formation vehicles, and applicable implementation subjects include but are not limited to: cloud platform, roadside infrastructure, a pilot vehicle in a formation or a follower vehicle in a formation, etc. The method specifically comprises the following steps:

step 101: determining a turning speed limit value when the vehicles in the formation pass through a target curve;

the target curve may include, but is not limited to, an upcoming curve or any curve on the driving route. The turning speed limit includes an upper safe driving speed limit and/or a lower safe driving speed limit when the vehicle passes through the target curve in the formation. It can be understood that if the turning speed required in the traffic information transmitted in the formation exceeds the upper limit of the safe traveling speed of any one of the vehicles in the formation, the vehicle exceeding the turning speed limit may turn over during the turning operation at the required turning speed, and thus a safety accident may be easily caused. On the other hand, when the angle of inclination of a curved road is large, if the turning speed required in the traffic information transmitted in the formation exceeds the lower limit of the safe running speed of the formation vehicle, the vehicle may turn over.

It should be noted that the vehicles for which the turning speed limit needs to be determined may be all the vehicles in the formation, or may be some of the vehicles in the formation that meet the requirements of preset conditions, such as vehicle type conditions, vehicle load conditions, and the like.

Step 102: determining a target turning speed when the formation passes through the target curve according to the turning speed limit value;

wherein the target turning speed is a speed value at which all the vehicles in the convoy are within the safe turning speed range.

Step 103: transmitting the target turning speed within the formation.

It should be noted that, for sending the target turning speed in the formation, if the implementation subject is a cloud platform or a roadside infrastructure, the implementation subject may be directly issued to the vehicles in the vehicle formation by the cloud platform or the roadside infrastructure for execution, or may be issued to a pilot vehicle, and the pilot vehicle is responsible for executing and controlling the vehicles in the formation.

In this embodiment, the turning speed limit value when the vehicles in the formation pass through the target curve is determined, the target turning speed when the entire formation passes through the target curve is determined according to the turning speed limit value, and the target turning speed is transmitted in the formation, so that the vehicles in the formation can turn at a uniform and safe driving speed, and the occurrence of safety accidents in the process of turning the vehicles can be avoided.

In an embodiment, the step 101 may include:

receiving vehicle turning driving information sent by vehicles in the formation; the vehicle turning travel information includes at least one of vehicle parameter information that affects a turning speed of a vehicle, a turning speed limit corresponding to a curve radius of the target curve, and a set of turning speed limits corresponding to different curve radii;

and determining the turning speed limit value when the vehicles in the formation pass through the target curve according to the vehicle turning running information.

In this embodiment, the vehicle turning information may be sent by following vehicles in the formation to lead vehicles in the formation, or the vehicle turning information may also be sent by vehicles in the formation to a cloud platform or a road-side infrastructure, etc. It should be noted that, if the decision entity is a cloud platform or a roadside infrastructure, the communication between the vehicles in the formation and the cloud platform or the roadside infrastructure may be performed directly, or may be forwarded by other vehicles (such as a pilot vehicle) in the formation.

The method for transmitting the vehicle turning driving information by the formation vehicles can comprise the following two methods:

the first method is as follows: sending mode for actively pushing formation vehicles

As an example, the vehicle turning information is transmitted within the formation when the vehicle joins the formation, or when the vehicle detects a safety risk.

The second method comprises the following steps: and sending a response according to the request.

As an embodiment, the method comprises:

sending request information to vehicles in the formation; wherein the vehicle transmits the vehicle turning travel information in response to the request information.

For example, as in fig. 2 and 3, the pilot vehicle 1 travels to a turning section, and transmits first traffic information including a curve radius of a curve ahead and request information for requesting vehicle turning travel information within a convoy; the following vehicles (2, 3, 4) respond to the request information and send vehicle turning driving information in the formation; the piloting vehicle 1 determines a target turning speed when the whole formation passes through a front curve according to vehicle turning running information, and sends the target turning speed in a lane change; the following vehicles (2, 3, 4) receive the target turning speed, and control the vehicles to perform a turning operation on the front curve at the target turning speed. Therefore, safety accidents such as rollover of vehicles in the formation can be effectively prevented.

Specifically, the sending request information to the vehicles in the formation includes:

Further, the vehicle turning travel information may include at least the following three cases:

the first condition is as follows: including vehicle parameter information that affects vehicle turning speed;

wherein, based on the influence factors of the upper limit of the safe driving speed of the formation vehicles, the vehicle parameter information comprises at least one of the following items: the vehicle self weight, the cargo weight, the height of the center position of the vehicle, the height of the center position of the mass of the vehicle, the cargo height, the type of cargo, the vehicle wheelbase and basic information of formation driving. Specifically, the basic information of formation driving refers to information for maintaining normal driving of formation, such as: the number of cars, the car number ID, the formation travel speed, the inter-vehicle distance, whether the vehicle itself is following or leading, etc. The variety of the cargo includes whether the cargo is dangerous chemical articles or not.

It can be understood that after receiving the vehicle parameter information which is sent by the vehicles in the formation and influences the turning speed of the vehicles, the turning speed limit value corresponding to the curve radius of the target curve of the vehicles in the formation is calculated or determined according to the vehicle parameter information

For example, when the formation vehicles run to the turning road end, the pilot vehicle sends service information to the vehicles in the formation to prompt a curve with radius r in the front, the following vehicles in the formation receive the service information of the turning road section in the front, then the load information and other basic information of the respective vehicles are fed back to the pilot vehicle, and the pilot vehicle collects the load information and the basic information of the vehicles in the formation and calculates the turning critical speed of the formation vehicles by combining the road information of the turning road section.

For example, the specific calculation formula may be as follows:

it is assumed that there are 4 vehicles (such as 1, 2, 3, and 4 in fig. 2) in the formation, the curve radius of the curved road is 20m (the range of the curve radius of the main road is 20 to 30 m in general), the road surface inclination angle is 10 °, the formation vehicle width is 2.2m, g represents the acceleration of gravity, and the centroid height is h from the cargo height and the cargo weight of the formation vehicles (1, 2, 3, and 4), respectively_g1＝2.3m，h_g2＝2.1m， h_g3＝1.9m，h_gSubstituting the parameters into a calculation formula, and calculating the safe driving speed ranges corresponding to the formation vehicles (1, 2, 3 and 4) as follows:

the safe driving speed range corresponding to the vehicle 1 is: v1 is not more than 11.83m/s, and the corresponding safe driving speed range of the vehicle 2 is as follows: v2 is not more than 12.29m/s, and the corresponding safe driving speed range of the vehicle 3 is as follows: v3 is not more than 12.83m/s, and the corresponding safe driving speed range of the vehicle 4 is as follows: v4 is less than or equal to 13.15 m/s. It is understood that the upper limit values of the safe running speeds corresponding to the vehicle 1, the vehicle 2, the vehicle 3, and the vehicle 4 are respectively: 11.83m/s, 12.29m/s, 12.83m/s and 13.15 m/s.

Case two: including a turning speed limit corresponding to a curve radius of the target curve;

the turning speed limit corresponding to the curve radius of the target curve may be represented as: vs: { r₁， Vs₁}。

It can be understood that the vehicle turning information sent by the vehicle in the formation is received and comprises the turning speed limit value corresponding to the curve radius of the target curve, and the turning speed limit value corresponding to the curve radius of the target curve of the vehicle can be directly determined.

Case three: turning speed limit values corresponding to different curve radii;

for example, taking the upper limit of the safe driving speed as an example, the turning speed limit corresponding to different curve radii can be expressed as: vs ═ r, Vs, as shown in the following table:

serial number	Upper limit of safe driving speed Vs	Radius of curve r
			1	Vs₁	r₁
2	Vs₂	r₂
			3	Vs₃	r₃
4	Vs₄	r₄
			5	Vs₅	r₅
6	Vs₆	r₆

TABLE 1 set of upper limits of safe driving speeds corresponding to different curve radii r

It is understood that when the vehicle turning information transmitted by the vehicle in the formation is received and includes a set of turning speed limits corresponding to different curve radii, the turning speed limit corresponding to the curve radius of the vehicle at the target curve may be determined according to the set of turning speed limits. Specifically, the different curve radii may respectively correspond to a preset curve radius range value, that is, the safe driving speed upper limit and/or the safe driving speed lower limit corresponding to the vehicle in the different curve radius ranges. In this way, when the curve radius of the target curve is within one of the preset curve radius ranges, the turning speed limit corresponding to the curve radius range can be determined as the turning speed limit corresponding to the curve radius of the vehicle at the target curve.

In one embodiment, the step 102 includes:

determining a minimum value of an upper speed limit among turning speed limits of vehicles in formation while passing through the target curve;

determining that the target turning speed is less than or equal to a minimum value of the upper speed limit.

For example, if there are 4 vehicles in the formation, the safe driving speed for avoiding the formation vehicle from turning over is calculated: v1 is less than or equal to 11.83m/s, V2 is less than or equal to 12.29m/s, V3 is less than or equal to 12.83m/s, and V4 is less than or equal to 13.15 m/s. The safe driving speed of the pilot vehicle calculated according to each vehicle is 10m/s, namely 36km/h, by taking the safe driving speed of the vehicle with the highest maximum center of mass height of the load into consideration that the vehicle with the large load is higher in center of mass and lower in safe driving speed through a curve compared with other vehicles, and in order to prevent the vehicle from turning over during the turning process. The vehicles in the formation will travel on a curved road at a speed of 10m/s, i.e. 36km/h, ensuring safe passage over the curved road. Wherein 10m/s is an exemplary preset value less than 11.83m/s (minimum upper speed limit value).

In another embodiment, the step 102 further includes:

determining that the target turning speed is less than or equal to the minimum value of the upper speed limit and greater than or equal to the maximum value of the lower speed limit.

In this embodiment, the turning speed limit value when the vehicles in the formation pass through the target curve includes an upper speed limit value and a lower speed limit value, when determining the target turning speed, the target turning speed is determined to be a value between the minimum value of the upper speed limit values and the maximum value of the lower speed limit values in consideration of the minimum value of the upper speed limit values and the maximum value of the lower speed limit values in the turning speed limit values of the vehicles in the formation (which may be some vehicles or all vehicles in the formation), so that the determined target turning speed can ensure that the vehicles in the formation uniformly keep the target turning speed in a safe turning speed range for driving, thereby effectively avoiding the problem that the vehicles in the formation are prone to rollover accidents when turning.

As in fig. 5, for example, three vehicles in the formation, the lower turning speed limits of the three vehicles are V1, V2 and V3, respectively, and V1 < V2 < V3, then the target turning speed is greater than V3; the upper turning speed limits of the three vehicles in the convoy are V4, V5 and V6, respectively, and V4 < V5 < V6, then the target turning speed is less than V4. It is understood that when the target turning speed is within the range of the section greater than or equal to V3 and less than or equal to V4, it can be ensured that the convoy vehicles are all at the safe turning speed when turning the target curve.

In another embodiment, the step 102 further includes:

acquiring road congestion information;

determining an expected turning speed when the formation passes through the target curve according to the road congestion information;

determining a minimum value of an upper speed limit among turning speed limits of vehicles in formation while passing through the target curve;

determining the smaller of the expected turning speed and the minimum value of the upper speed limit as the target turning speed.

In this embodiment, when determining the target turning speed of the whole formation vehicles, the road congestion may be considered, specifically, the target turning speed is the minimum safe running speed of the minimum values of the expected turning speed and the speed upper limit, that is, V ═ min { Vs, Vp }, where V is the target turning speed, Vs is the upper limit speed minimum value of the turning speed limit values when each vehicle passes through the target curve in the formation, and Vp is the predicted turning speed. Therefore, the target turning speed can be determined more accurately, and the safety of the formation vehicle during turning running is improved.

It should be noted that when the pilot vehicle determines the overall turning speed of the formation vehicles, the influence factors { r, Vs } of the own vehicle and the road congestion condition are considered, and meanwhile, the formation historical vehicle information, the formation vehicle distance and other factors such as the V2X and the like can be referred to, so that the vehicle type and the speed of the curve passing recently in front can be obtained. The formation historical vehicle information may include speed information of historical turning during single formation driving, such as speed information of the last same curve or historical turning speed limit. In addition, when the pilot vehicle decides the turning speed, the upper limit of the safety speed of the pilot vehicle is always considered.

Second embodiment

As shown in fig. 6, a second embodiment of the present invention provides a driving method for vehicles in a formation, which is applied to the vehicles in the formation, and specifically includes the following steps:

step 201: receiving a target turning speed sent in the formation, wherein the target turning speed is the turning speed when the formation passes through a target curve;

wherein the turning speed limit comprises an upper safe driving speed limit and/or a lower safe driving speed limit when the vehicles in the formation pass through the target curve. It can be understood that if the turning speed required in the service information transmitted in the formation exceeds the upper limit of the safe driving speed of any one of the vehicles in the formation, the vehicle exceeding the turning speed limit may turn over when performing a turning operation at the required turning speed, and thus a safety accident may be easily caused. When the inclination angle of a curved road is large, if the turning speed required in the service information sent in the formation exceeds the lower limit of the safe running speed of the formation vehicle, the vehicle may turn over.

Step 202: driving on the target curve at the target turning speed.

In this embodiment, by acquiring the target turning speed when the whole formation passes through the target curve and performing the turning operation at the target turning speed in the target curve, it is possible to make each vehicle in the formation turn at a uniform and safe running speed, thereby avoiding the occurrence of a safety accident during the turning of the vehicle.

In an embodiment, before the step of step 201, the method further includes:

transmitting vehicle turning driving information in the formation; wherein the vehicle turning travel information includes at least one of vehicle parameter information that affects a turning speed of the vehicle, a turning speed limit value corresponding to a curve radius of the target curve, and a set of turning speed limit values corresponding to different curve radii.

The vehicles that need to send the vehicle turning driving information may be the individual vehicles in the formation, or may be some vehicles meeting the preset condition requirements in the formation, such as vehicle type conditions, vehicle load conditions, and the like.

It is understood that the vehicle turning driving information may include at least the following three cases:

the first condition is as follows: including vehicle parameter information that affects vehicle turning speed;

wherein the vehicle parameter information comprises at least one of:

In this embodiment, the vehicle parameter information includes at least one of the following, based on an influence factor of an upper limit of a safe driving speed of the formation vehicle: the self weight of the vehicle, the cargo weight, the height of the central position of the vehicle, the cargo height, the type of cargo and basic information of formation driving. The basic information of formation driving refers to information for maintaining normal driving of formation, for example: the number of cars, the car number ID, the formation travel speed, the inter-vehicle distance, whether the vehicle itself is following or leading, etc. The cargo item category includes, for example, whether the cargo item is a dangerous chemical item or not.

Case two: including a turning speed limit corresponding to a curve radius of the target curve;

the turning speed limit corresponding to the curve radius of the target curve may be represented as: vs: { r₁， Vs₁}。

Case three: turning speed limit values corresponding to different curve radii;

the turning speed limit values corresponding to different curve radii can be expressed as: vs ═ r, Vs };

specifically, the upper speed limit is taken as an example and is shown in table 2 below:

TABLE 2 safe driving speed upper limit set corresponding to different curve radius r

Further, different curve radii may respectively correspond to a preset curve radius range value, and when the curve radius of the target curve is within one of the preset curve radius ranges, the safe driving speed upper limit and/or the safe driving speed lower limit corresponding to the different curve radius ranges of the vehicle may be set. In this way, when the curve radius of the target curve is within one of the preset curve radius ranges, the turning speed limit corresponding to the curve radius range can be determined as the turning speed limit corresponding to the curve radius of the vehicle at the target curve.

The sending of the vehicle turning driving information in the formation can include the following two modes:

the first method is as follows: sending mode for actively pushing formation vehicles

And when the vehicles join the formation or safety risk is detected, transmitting vehicle turning driving information in the formation.

For example, as shown in fig. 2 and 4, when a formation vehicle travels to a turning road end, a pilot vehicle 1 sends service information to vehicles in the formation to indicate that a turning road section is ahead, after a following vehicle in the formation receives the service information that the turning road section is ahead, when the following vehicle performs turning operation according to the turning speed sent by the pilot vehicle 1, it is detected that the following vehicle has a danger of sideslip or rollover, the following vehicle 2 calculates a critical passing speed according to self load information, and feeds back a safe traveling speed and other basic information to the pilot vehicle to request the pilot vehicle to perform deceleration and distance increase operation, and after the pilot vehicle receives a deceleration and distance increase request sent by the following vehicle, the load information and the safe traveling speed of the following vehicle are checked, the turning speed and the vehicle distance of the formation vehicle are adjusted, and the formation vehicle is ensured to safely complete the turning operation.

The second method comprises the following steps: sending mode for responding according to request

Before the step of receiving the target turning speed sent in the formation, the method further comprises the following steps:

receiving request information sent in a formation; transmitting the vehicle turning travel information within the formation in response to the request information.

Specifically, the request information is sent in the formation when the vehicle joins the formation, or before the formation reaches a first preset distance or a first preset time length of the target curve.

The above first embodiment and the second embodiment are respectively described with respect to the driving method of the formation vehicles of the present invention, and the following embodiment will further describe the driving device of the formation vehicles in conjunction with the accompanying drawings.

Third embodiment

Specifically, as shown in fig. 7, an embodiment of the present invention provides a running device for formation vehicles, the device 700 including:

a first determination module 710 for determining a turning speed limit for a vehicle in a convoy to pass a target curve;

a second determining module 720, configured to determine, according to the turning speed limit, a target turning speed when the formation passes through the target curve;

a sending module 730, configured to send the target turning speed in the formation.

Optionally, the first determining module 710 includes:

the first determining submodule is used for receiving vehicle turning driving information sent by vehicles in the formation; the vehicle turning travel information includes at least one of vehicle parameter information that affects a turning speed of a vehicle, a turning speed limit corresponding to a curve radius of the target curve, and a set of turning speed limits corresponding to different curve radii;

and the second determining submodule is used for determining the turning speed limit value when the vehicles in the formation pass through the target curve according to the vehicle turning running information.

Optionally, the vehicle turning information is sent in the formation when the vehicle joins the formation, or when the vehicle detects a safety risk.

Optionally, the method further includes:

the request sending module is used for sending request information to the vehicles in the formation; wherein the vehicle transmits the vehicle turning travel information in response to the request information.

Optionally, the request sending module includes:

the first sending submodule is used for sending request information to the vehicles in the formation when the vehicles join the formation or before the formation reaches a first preset distance or a first preset time length of a target curve.

Optionally, the vehicle parameter information includes at least one of:

Optionally, the second determining module 720 includes:

a third determination submodule for determining a minimum value of an upper speed limit among turning speed limits at which the vehicles in the formation pass through the target curve;

a fourth determination submodule for determining that the target turning speed is a minimum value that is less than or equal to the speed upper limit.

Optionally, the second determining module 720 further includes:

a sixth determining submodule for determining a minimum value of an upper speed limit and a maximum value of a lower speed limit among turning speed limit values at which the vehicle passes through the target curve in the formation;

a seventh determining submodule for determining that the target turning speed is less than or equal to the minimum value of the upper speed limit and greater than or equal to the maximum value of the lower speed limit.

Optionally, the second determining module 720 further includes:

the eighth determining submodule is used for determining the expected turning speed when the formation passes through the target curve according to the road congestion information;

a ninth determining submodule for determining a minimum value of an upper speed limit among turning speed limit values at which the vehicle passes through the target curve in the formation;

a tenth determination submodule for determining the smaller of the expected turning speed and the minimum value of the speed upper limit as the target turning speed.

The third embodiment of the present invention corresponds to the embodiment of the method shown in fig. 1, and all the implementation means in the above method embodiment are applicable to the embodiment of the apparatus, and the same technical effect can be achieved.

Fourth embodiment

Specifically, as shown in fig. 8, an embodiment of the present invention provides a running device for formation vehicles, the device 700 including:

a receiving module 810, configured to receive a target turning speed sent in the formation, where the target turning speed is a turning speed when the formation passes through a target curve;

a control module 820 for driving on the target curve at the target turning speed.

Optionally, the apparatus 800 further includes:

the second sending module is used for sending vehicle turning running information in the formation; wherein the vehicle turning travel information includes at least one of vehicle parameter information that affects a turning speed of a vehicle, a turning speed limit corresponding to a curve radius of the target curve, and a set of turning speed limits corresponding to different curve radii.

Optionally, the second sending module includes:

and the second sending submodule is used for sending the vehicle turning driving information in the formation when the vehicle joins the formation or when the safety risk is detected.

Optionally, the second sending module further includes:

the request receiving module is used for receiving request information sent in the formation;

a response module for transmitting the vehicle turning travel information within the formation in response to the request information.

Optionally, the request information is sent in the formation when the vehicle joins the formation, or before the formation reaches a first preset distance or a first preset time length of the target curve.

Optionally, the vehicle parameter information includes at least one of:

The fourth embodiment of the present invention corresponds to the embodiment of the method shown in fig. 6, and all the implementation means in the above method embodiment are applicable to the embodiment of the apparatus, and the same technical effect can be achieved.

Fifth embodiment

In order to better achieve the above object, as shown in fig. 9, the present embodiment also provides a running control apparatus of a convoy vehicle, comprising:

a processor 900; and a memory 920 connected to the processor 900 through a bus interface 940, wherein the memory 920 is used for storing programs and data used by the processor 900 when executing operations, and when the processor 900 calls and executes the programs and data stored in the memory 920, the following processes are performed. The transceiver 910 is coupled to the bus interface 940 for receiving and transmitting data under the control of the processor 900.

The processor 900 is configured to:

determining a turning speed limit value when the vehicles in the formation pass through a target curve; determining a target turning speed when the formation passes through the target curve according to the turning speed limit value; transmitting the target turning speed within the formation.

Optionally, when determining the turning speed limit value when the vehicle passes through the target curve in the formation, the processor 900 is specifically configured to:

and determining the turning speed limit value when the vehicles in the formation pass through the target curve according to the vehicle turning running information.

Optionally, the vehicle turning information is sent when the vehicle joins the formation, or when a safety risk is detected in the formation.

Optionally, the processor 900 is further configured to:

sending request information to vehicles in the formation; wherein the vehicle transmits the vehicle turning travel information in response to the request information.

Optionally, when sending the request information to the vehicles in the formation, the processor 900 is specifically configured to:

Optionally, the vehicle parameter information includes at least one of:

Optionally, when determining the target turning speed when the formation passes through the target curve according to the turning speed limit, the processor 900 is specifically configured to:

determining a minimum value of an upper speed limit among turning speed limits of vehicles in formation while passing through the target curve;

determining that the target turning speed is less than or equal to a minimum value of the upper speed limit.

Optionally, when determining the target turning speed when the formation passes through the target curve according to the turning speed limit, the processor 900 is further specifically configured to:

determining that the target turning speed is less than or equal to the minimum value of the upper speed limit and greater than or equal to the maximum value of the lower speed limit.

Optionally, when determining the target turning speed when the formation passes through the target curve according to the turning speed limit, the processor 900 is further specifically configured to:

acquiring road congestion information;

determining an expected turning speed of the formation vehicles when the formation vehicles pass through the target curve according to the road congestion information;

determining a minimum value of an upper speed limit among turning speed limits of vehicles in formation while passing through the target curve;

determining the smaller of the expected turning speed and the minimum value of the upper speed limit as the target turning speed.

It should be noted that in fig. 9, the bus architecture may include any number of interconnected buses and bridges, with one or more processors represented by processor 900 and various circuits of memory represented by memory 920 being linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface. The transceiver 910 may be a number of elements including a transmitter and a transceiver providing a means for communicating with various other apparatus over a transmission medium. For different terminals, the user interface 930 may also be an interface capable of interfacing with a desired device, including but not limited to a keypad, display, speaker, microphone, joystick, etc. The processor 900 is responsible for managing the bus architecture and general processing, and the memory 920 may store data used by the processor 900 in performing operations.

Fifth embodiment

In order to better achieve the above object, as shown in fig. 10, the present embodiment further provides a formation vehicle, including:

a processor 1000; and a memory 1020 connected to the processor 1000 through a bus interface 1040, wherein the memory 1020 is used for storing programs and data used by the processor 1000 in executing operations, and when the processor 1000 calls and executes the programs and data stored in the memory 1020, the following processes are performed. Among other things, the transceiver 1010 is coupled to the bus interface 1040 for receiving and transmitting data under the control of the processor 1000.

The processor 1000 is configured to:

receiving a target turning speed sent in the formation, wherein the target turning speed is the turning speed when the formation passes through a target curve; driving on the target curve at the target turning speed.

Optionally, before the step of receiving the target turning speed sent in the formation, the processor 1000 is further configured to:

transmitting vehicle turning driving information in the formation;

Optionally, when the processor 1000 sends the vehicle turning driving information in the formation, the processor is specifically configured to:

and when the vehicles join the formation or safety risk is detected, transmitting vehicle turning driving information in the formation.

Optionally, before the step of receiving the target turning speed sent in the formation, the processor 1000 is further configured to:

receiving request information sent in a formation;

transmitting the vehicle turning travel information within a formation in accordance with responding to the request information.

Optionally, the vehicle parameter information includes at least one of:

It should be noted that in fig. 10, the bus architecture may include any number of interconnected buses and bridges, with one or more processors represented by processor 1000 and various circuits of memory represented by memory 1020 being linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface. The transceiver 1010 may be a number of elements including a transmitter and a transceiver providing a means for communicating with various other apparatus over a transmission medium. For different terminals, the user interface 1030 may also be an interface capable of interfacing with a desired device, including but not limited to a keypad, display, speaker, microphone, joystick, etc. The processor 1000 is responsible for managing the bus architecture and general processing, and the memory 1020 may store data used by the processor 1000 in performing operations.

Those skilled in the art will appreciate that all or part of the steps for implementing the above embodiments may be performed by hardware, or may be instructed to be performed by a computer program that includes instructions for performing some or all of the steps of the above methods; and the computer program may be stored in a readable storage medium, which may be any form of storage medium.

Furthermore, it is to be noted that in the device and method of the invention, it is obvious that the individual components or steps can be decomposed and/or recombined. These decompositions and/or recombinations are to be considered equivalents of the present invention. Also, the steps of performing the above-described series of processes may naturally be performed in chronological order in the order described, but need not necessarily be performed in chronological order, and some steps may be performed in parallel or independently of each other. It will be understood by those skilled in the art that all or any of the steps or elements of the method and apparatus of the present invention may be implemented in any computing device (including processors, storage media, etc.) or network of computing devices, in hardware, firmware, software, or any combination thereof, which can be implemented by those skilled in the art using their basic programming skills after reading the description of the present invention.

Thus, the objects of the invention may also be achieved by running a program or a set of programs on any computing device. The computing device may be a general purpose device as is well known. The object of the invention is thus also achieved solely by providing a program product comprising program code for implementing the method or device. That is, such a program product also constitutes the present invention, and a storage medium storing such a program product also constitutes the present invention. It is to be understood that the storage medium may be any known storage medium or any storage medium developed in the future. It is further noted that in the apparatus and method of the present invention, it is apparent that each component or step can be decomposed and/or recombined. These decompositions and/or recombinations are to be regarded as equivalents of the present invention. Also, the steps of executing the series of processes described above may naturally be executed chronologically in the order described, but need not necessarily be executed chronologically. Some steps may be performed in parallel or independently of each other.

The foregoing is a preferred embodiment of the present invention, and it should be noted that it is obvious to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements should be construed as the protection scope of the present invention.

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Driving method, device and equipment of formation vehicle and formation vehicle

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