The invention discloses a formation control system for autonomous vehicles, and the system comprises a vehicle end and a road end, the vehicle end comprises a vehicle-mounted unit and a domain controller, the road end comprises a road side unit, the vehicle-mounted unit is used for obtaining the sensor data of the vehicle end and obtaining the vehicle-road cooperation data of the road end through a V2X communication mode, and the domain controller is used for controlling the vehicle-road cooperation data of the road end. The sensor data of the vehicle end and the vehicle-road cooperation data of the road end are sent to the domain controller; the domain controller is used for carrying out fusion processing on the received data and carrying out formation control on the automatic driving vehicles according to a fusion processing result; and the road side unit is used for acquiring the vehicle-road cooperation data of the road end and sending the vehicle-road cooperation data to the vehicle end in a V2X communication mode. The full-link design of automatic driving vehicle formation control is realized based on V2X communication, the sensor data of the vehicle end and the vehicle-road cooperation data of the road end are combined, a richer and more reliable judgment basis is provided for formation decision planning, and the formation control precision is improved.
本申请公开了一种自动驾驶车辆的编队控制系统,该自动驾驶车辆的编队控制系统包括车端和路端,车端包括车载单元和域控制器,路端包括路侧单元,车载单元,用于获取车端的传感器数据及通过V2X通信方式获取路端的车路协同数据,并将车端的传感器数据和路端的车路协同数据发送至域控制器;域控制器,用于对接收到的上述数据进行融合处理,并根据融合处理结果进行自动驾驶车辆的编队控制;路侧单元,用于获取路端的车路协同数据并通过V2X通信方式发送至车端。本申请基于V2X通信实现了自动驾驶车辆编队控制的全链路设计,通过将车端的传感器数据与路端的车路协同数据相结合,为编队决策规划提供了更丰富、更可靠的判断依据,提高了编队控制精度。
Formation control system for autonomous vehicles
自动驾驶车辆的编队控制系统
18.10.2022
Patent
Elektronische Ressource
Chinesisch
Path Planning for Formation Control of Autonomous Vehicles
Springer Verlag | 2016
|FORMATION RECONFIGURATION FOR AUTONOMOUS VEHICLES
British Library Conference Proceedings | 2003
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