Method for achieving collaborative driving of vehicle fleet by means of semi-physical simulation technology
A semi-physical simulation and collaborative driving technology, applied in the traffic control system, general control system, instrument and other directions of road vehicles to achieve the effect of increasing operability, improving efficiency and reducing risks
Active Publication Date: 2014-07-30
MILITARY TRANSPORTATION UNIV PLA
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Although the above-mentioned patents all provide similar experimental platforms, and design the hardware structure and software functions of miniature smart cars, most of them can only achieve certain specific tasks, such as teaching, competition tasks, or exploratory research for smart car road systems. Research provides the overall architecture of the system
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[0026] The specific implementation of the present invention will be described in detail below in conjunction with preferred embodiments.
[0027] Such as figure 1 As shown, the overall schematic diagram can combine the road traffic environment and the fleet experimental platform into a fleet cooperative driving system. The system includes the hierarchical physical structure of the coordination layer and the control layer, and the three kinds of information structures for transmission listed in the figure. In general, the camera for collecting road markings uses the USB bus, the ultrasonic sensor for collecting inter-vehicle distance uses the SCI bus, the photoelectric encoder for measuring the vehicle speed uses the I / O bus, and the acceleration sensor can use the SPI or I2C bus. Communication with roadside equipment uses a wireless network card or Zigbee wireless communication module. In addition, the command sending and receiving of the cooperation unit and the control uni...
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The invention relates to a method for achieving collaborative driving of a vehicle fleet by means of the semi-physical simulation technology. The method specifically comprises the steps that the type of data containing the states of vehicles and the road traffic environment is defined, a software architecture of a vehicle fleet collaborative driving distributed system is designed, a hybrid automata for vehicle fleet collaborative driving is designed according to the requirements of software of a vehicle fleet upper-layer collaboration unit, and the input state of a vehicle fleet control system is determined according to the requirements of software of a bottom-layer control function unit. The method for achieving collaborative driving of the vehicle fleet by means of the semi-physical simulation technology has the advantages that dynamic information and static information collected during collaborative driving of the vehicle fleet can be effectively classified and fused in real time, the overall functions of a system can be classified into the upper-layer function unit and the lower-layer function unit through the provided software architecture of the vehicle fleet collaborative driving distributed system; limited vehicle fleet driving strategies are related through the hybrid automata for vehicle fleet collaborative driving in a collaboration layer, and control over switching of various vehicle fleet collaborative driving strategies can be completed by setting the triggering conditions such as the position, the length and the speed of the vehicle fleet and the interval between vehicles in the vehicle fleet.
Description
technical field [0001] The invention relates to the field of intelligent traffic simulation and testing, in particular to a method for realizing collaborative driving of fleets by means of semi-physical simulation technology. Background technique [0002] The intelligent transportation system has developed from the early automatic highway system based on advanced vehicle control technology to the current intelligent vehicle-road system oriented by vehicle-to-vehicle and vehicle-road communication. Fleet collaborative driving is a hot issue in the research of intelligent vehicle-road system. Fleet cooperative driving can form a number of bicycles into a cross-lane flexible fleet. Through the coordination and cooperation of vehicles and roads, traffic capacity can be improved, traffic safety can be enhanced, and energy can be saved and environmental pollution can be reduced on this basis. Although the PATH program proposed by the University of California, Berkeley (1997-2004, ...
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IPC IPC(8): G08G1/00G05B17/02
Inventor 马育林徐友春袁一李明喜李 华贾 鹏张志超李建市朱增辉
Owner MILITARY TRANSPORTATION UNIV PLA
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