The invention discloses a V2X-based formation driving intelligent networked passenger car, which comprises a sensing and positioning device, a V2X information interconnection system and a chassis domain controller which are connected with an automatic driving domain controller, wherein the automatic driving domain controller decides a formation driving state according to collected multi-source information and outputs a target speed and acceleration of path tracking, the sensing and positioning device comprises an environment sensing unit and a positioning and navigation unit, the V2X information interconnection system broadcasts passenger car state information to other formation vehicles, and the chassis domain controller is used for path tracking control of the networked passenger car, drives an electronic accelerator to perform acceleration control through a CAN bus, performs deceleration control through motor braking and service braking, and sends an advancing command request of going straight, turning left or turning right to the steering motor controller through the CAN bus. According to the invention, formation driving cooperative control of multiple passenger cars can be achieved, dual-redundancy design is adopted in chassis domain controller hardware, and the stability, safety and reliability of formation driving are improved.
本发明公开了一种基于V2X的编队行驶智能网联客车,包括与自动驾驶域控制器连接的感知定位装置、V2X信息互联系统和底盘域控制器;自动驾驶域控制器将采集的多源信息决策编队行驶状态,输出路径跟踪的目标速度和加速度;感知定位装置包括环境感知单元和定位导航单元;V2X信息互联系统将客车状态信息广播给其它编队车辆;底盘域控制器用于网联客车的路径跟踪控制,通过CAN总线驱动电子油门进行加速控制,通过电机制动和行车制动进行减速控制,通过CAN总线向转向电机控制器发送直行、左转或右转的行进命令请求。可以实现多客车的编队行驶协同控制,底盘域控制器硬件采用双冗余设计,提高了编队行驶的稳定性、安全性和可靠性。
V2X-based formation driving intelligent network connection passenger car
一种基于V2X的编队行驶智能网联客车
2021-01-22
Patent
Electronic Resource
Chinese
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR |
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