The invention discloses a heavy-duty truck marshalling control method under an automatic driving mixed driving condition, which comprises the following steps of: 1, establishing communication connection between a target heavy-duty truck and a vehicle team through a roadside RSU (Roadside Unit), and calculating a longitudinal distance s0 between the target heavy-duty truck and an expected driving-in position in the vehicle team; 2, controlling the target heavy-duty truck to accelerate/decelerate to a planned speed and keep running stably until an expected deceleration/acceleration target point; 3, controlling the target heavy-duty truck to change the driving speed until the driving speed is consistent with the driving speed of the motorcade and arrives at an expected driving-in position in the motorcade; 4, enabling the motorcade to open the parking space for the target heavy-duty truck to drive in, and judging whether the parking space at the position where the target heavy-duty truck is planned to drive in is enough or not; and 5, when the vehicle inserting space is enough, the target heavy-duty truck completes the joining process, otherwise, the step 4 is executed again, and the speed of the heavy-duty truck decelerated to the preset point is reduced. According to the invention, the target vehicle can quickly, safely and efficiently join the motorcade, and the traffic capacity and the traffic safety are improved.

    本发明公开了自动驾驶混行条件下的重载货车编组控制方法,步骤如下:1、通过路侧RSU建立目标重载货车与车队之间的通讯连接,并计算目标重载货车与车队内预期驶入位置的纵向距离s0;2、控制目标重载货车加速/减速至计划速度并保持平稳行驶,直至预期减速/加速目标点;3、控制目标重载货车改变行驶速度直至与车队行驶速度一致并抵达车队内预期驶入位置;4、令车队打开插车空间供目标重载货车驶入,判断目标重载货车拟驶入位置的插车空间是否足够;5、在插车空间足够时,目标重载货车完成加入过程,否则返回4,并降低重载货车减速至预定点后的速度。本发明可以实现所述目标车辆快速、安全、高效地加入所述车队,提高通行能力和通行安全性。


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    Titel :

    Heavy-duty truck marshalling control method under automatic driving mixed running condition


    Weitere Titelangaben:

    自动驾驶混行条件下的重载货车编组控制方法


    Beteiligte:
    BAO LIXIA (Autor:in) / YU YAO (Autor:in) / TU JINCHENG (Autor:in) / WANG QIULAN (Autor:in) / JIANG YAN (Autor:in) / LI HONGCUN (Autor:in)

    Erscheinungsdatum :

    2024-04-09


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze





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