The invention discloses an automatic driving vehicle formation method based on vehicle-road cloud cooperation, and relates to the technical field of automatic driving vehicles, each vehicle carries a sensor to sense the states of the surrounding environment and other vehicles, the sensor comprises a laser radar, a radar and a camera, and the vehicle-road cloud cooperation is realized through communication between vehicles (vehicle-to-vehicle communication and vehicle-to-infrastructure communication). Transmitting sensed information to other vehicles and roadside facilities, wherein the sensed information comprises position, speed, acceleration and lane departure; data prediction and redundancy transmission technologies are adopted to cope with the influence caused by network delay, and real-time information exchange and cooperative action are carried out between vehicles through a communication protocol. By adopting the data prediction and redundancy transmission technology, the influence caused by network delay is dealt with, the transmission delay is reduced, and the vehicle-road cloud cooperative data and instruction can be transmitted in real time, so that the real-time performance and stability of the automatic driving vehicle formation are ensured.
本发明公开了一种基于车路云协同的自动驾驶车辆编队方法,涉及自动驾驶车辆技术领域,每辆车搭载传感器来感知周围环境和其他车辆的状态,传感器包括激光雷达、雷达、摄像头,通过车辆间的通信(车辆到车辆通信,车辆到基础设施通信),将感知到的信息传递给其他车辆和路侧设施信息,感知到的信息包括位置、速度、加速度、车道偏离;采用数据预测和冗余传输技术,应对网络延迟带来的影响,车辆之间通过通信协议进行实时的信息交换和协同行动。本发明通过采用数据预测和冗余传输技术,应对网络延迟带来的影响,减小传输延迟,使得车路云协同的数据和指令能够实时传输,从而确保自动驾驶车辆编队的实时性和稳定性。
Automatic driving vehicle formation method based on vehicle-road cloud collaboration
一种基于车路云协同的自动驾驶车辆编队方法
2023-10-20
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / H04L TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION , Übertragung digitaler Information, z.B. Telegrafieverkehr / H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze |
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