The invention relates to a mountainous road truck queue predictive cruise control method, in particular to a mountainous road truck queue predictive cruise control method based on an unmanned aerial vehicle. The invention aims to solve the problem that when a truck queue runs on a mountain road, the queue loses stability, and the collision risk is increased. The method comprises the steps that 1, a driver sets a starting point and a destination, sets a DSM file and stores the DSM file in an unmanned aerial vehicle; 2, a laser radar and a camera on the unmanned aerial vehicle are used for collecting elevation point cloud information and road videos of the complex terrain road; 3, sending to a truck queue pilot car; 4, making a road displacement-road elevation table and a road displacement-road curvature table; 5, the ECU of the pilot car controls the truck queue pilot car to execute a queue speed planning algorithm, and the optimal speed of the predicted time domain is obtained; and 6, transmitting the speed of the leading vehicle to the following vehicle, executing a queue following algorithm by the following vehicle, and planning the real-time speed of the following vehicle. The method is applied to the field of mountainous road truck queue control.
基于无人机的山区道路卡车队列预见性巡航控制方法,本发明涉及山区道路卡车队列预见性巡航控制方法。本发明的目的是为了解决卡车队列在山区道路行驶时,队列会失去稳定性,增加碰撞风险的问题。过程为:1:驾驶员设置好出发点和目的地,设置DSM文件存储到无人机中;2:利用无人机上激光雷达和相机采集复杂地形道路高程点云信息和道路视频;3:发送给卡车队列领航车;4:制作道路位移‑道路高程表和道路位移‑道路曲率表;5:领航车的ECU控制卡车队列领航车执行队列速度规划算法,得到预测时域最优车速;6:将领航车的车速传递给跟随车,跟随车执行队列跟驰算法,规划出跟随车实时车速。本发明用于山区道路卡车队列控制领域。
Mountain road truck queue predictive cruise control method based on unmanned aerial vehicle
基于无人机的山区道路卡车队列预见性巡航控制方法
2023-11-10
Patent
Electronic Resource
Chinese
IPC: | 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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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