The invention relates to a highway vehicle-road collaborative hybrid traffic flow formation system, which comprises a V2X module, vehicle end equipment OBU, a formation module, a Routing module and a planning module, the V2X module is used for receiving early warning information sent by a road test unit RSU, providing early warning information for the formation module and HMI display, receiving formation information, associating the formation information with a chassis of an autonomous vehicle, executing related actions of formation, periodically issuing positioning information, chassis information and formation information of the vehicle, reading formation information issued by a head vehicle, performing V2X broadcasting, and sending the information to the formation module. All received information is subjected to one-time relay broadcast, then a formation request is sent to the Routing module and the planning module to the formation module, and corresponding formation and decompilation actions are executed; the formation module is divided into a head vehicle and member vehicles, the head vehicle is used for initiating formation, formulating a corresponding formation strategy and sending a formation instruction, and the vehicles except the head vehicle are member vehicles, receive the formation instruction and execute corresponding actions. According to the invention, the following automatic driving of a plurality of vehicles can be realized.
一种高速公路车路协同混合车流编队系统,包括:V2X模块、车端设备OBU、编队模块、Routing模块和规划模块;V2X模块用于接收路测单元RSU发来的预警信息,为编队模块和HMI显示提供预警信息,接收编队消息和自动驾驶车辆的底盘相联系,执行编队的相关动作,周期性的发布本车的定位信息,底盘信息以及编队信息,读取头车发布的编队信息,进行V2X广播,并且将受到的所有信息进行一次中继广播,然后对编队模块把编队请求发给Routing模块和规划模块,执行相应的编队和解编的动作;编队模块分为头车和成员车辆,头车用于发起编队,制定相应的编队策略,发送编队指令,头车以外的车辆为成员车辆,接受编队指令并执行相应动作。本发明能够实现多个车辆的跟车自动驾驶。
Highway vehicle-road collaborative hybrid traffic flow formation system
一种高速公路车路协同混合车流编队系统
2022-12-20
Patent
Electronic Resource
Chinese
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