CN105279958B - fleet management system and method - Google Patents
fleet management system and method Download PDFInfo
- Publication number
- CN105279958B CN105279958B CN201510784313.5A CN201510784313A CN105279958B CN 105279958 B CN105279958 B CN 105279958B CN 201510784313 A CN201510784313 A CN 201510784313A CN 105279958 B CN105279958 B CN 105279958B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- fleet
- module
- leader
- control module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 46
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 166
- 238000012544 monitoring process Methods 0.000 claims abstract description 123
- 238000004891 communication Methods 0.000 claims description 82
- 230000001133 acceleration Effects 0.000 claims description 22
- 230000003068 static effect Effects 0.000 claims description 8
- 238000000465 moulding Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 18
- 230000009471 action Effects 0.000 description 16
- 230000003993 interaction Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 10
- 238000001514 detection method Methods 0.000 description 7
- 206010039203 Road traffic accident Diseases 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 6
- 238000012806 monitoring device Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 3
- 238000010295 mobile communication Methods 0.000 description 2
- 241000256844 Apis mellifera Species 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Landscapes
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention discloses a kind of fleet management system and method, belongs to technical field of intelligent traffic.Fleet management system includes：Remote monitoring module and formation control module, remote monitoring module are used for the driving information for monitoring at least two fleets, formation control module are provided with each vehicle at least two fleets；In any fleet：First formation control module is used to control leader's vehicle traveling according to the driving information of at least two fleets, and the first formation control module is the formation control module being arranged on leader's vehicle；Second formation control module is used to control the second following vehicle traveling according to the transport condition of the 3rd vehicle, and the second formation control module is the formation control module being arranged in the second following vehicle, the vehicle that the 3rd vehicle is followed by the second following vehicle.The present invention solves the problems, such as that the management effect of fleet management system is poor, improves the management effect of fleet management system.The present invention is used for fleet management.
Description
Technical field
The present invention relates to technical field of intelligent traffic, more particularly to a kind of fleet management system and method.
Background technology
As the vehicles such as the fast development of electronic technology, automobile have become the vehicles essential in life.And
Along with the popularization of vehicle, road vehicle is more and more intensive, and traffic safety is also more and more important.Platooning's traveling can be with
Conflicting between vehicle and vehicle, vehicle and pedestrian on road is reduced, improves traffic safety, reduces the hair of traffic accident
Raw probability.
The vehicle for traveling of forming into columns may be constructed fleet, and leader's vehicle is generally included in fleet and follows the leader successively
The following vehicle of vehicle traveling.In order to effectively be managed fleet, prior art provides a kind of fleet management system, the car
Queue is managed by leader's vehicle in team's management system.Specifically, the fleet management system includes：Control module, detection
Module, communication module and driving module, wherein, control module, detecting module and communication module are provided with vehicle of leading a group, is followed
Be provided with vehicle communication module and drive module, detecting module can detect leader vehicle running environment (such as detection barrier
Hinder thing, road sign, lane line etc., the running environment of leader's vehicle is referred to as the running environment of fleet), vehicle of leading a group is driven
The person of sailing can drive leader's vehicle according to the running environment that detecting module detects, and control module can obtain the row of leader's vehicle
Path is sailed, following vehicle broadcast leader vehicle of the vehicle by the communication module on leader's vehicle into the fleet of then leading a group
Driving path, following vehicle can drive module control under according to leader vehicle driving path travel, in fleet's row
During sailing, the control module being arranged on leader's vehicle can be monitored to the driving information of fleet, and according to fleet
Driving information control fleet traveling, wherein, driving information can include running environment and transport condition.
During the present invention is realized, inventor has found that prior art at least has problems with：
Prior art is managed by leader's vehicle to fleet, due to the simply fleet where itself of leader's vehicle monitoring
Driving information, its monitoring range is smaller, fleet can not be managed interior on a large scale, therefore, fleet's pipe of the prior art
The management effect of reason system is poor.
The content of the invention
In order to solve the problems, such as that the management effect of fleet management system is poor, the present invention provide a kind of fleet management system and
Method.The technical scheme is as follows：
First aspect, there is provided a kind of fleet management system, the fleet management system include：Remote monitoring module and formation
Control module,
The remote monitoring module is used for the driving information for monitoring at least two fleets, every at least two fleet
Individual fleet includes leader's vehicle and follows the following vehicle of leader's vehicle traveling, each car at least two fleet
The formation control module is provided with；
In any fleet at least two fleet：
First formation control module is used for according to the driving information of at least two fleet control leader's vehicle row
Sail, the first formation control module is the formation control module being arranged on leader's vehicle；
Second formation control module is used to control the second following vehicle traveling according to the transport condition of the 3rd vehicle, and described the
Two formation control modules are the formation control module being arranged in second following vehicle, and second following vehicle is described
Any following vehicle in any fleet, the vehicle that the 3rd vehicle is followed by second following vehicle.
Alternatively, the remote monitoring module is additionally operable to determine to correspond to according to the driving information of at least two fleet
The schedule information of any fleet, and leader's vehicle into any fleet sends the schedule information；
The first formation control module is used for according to schedule information control leader's vehicle traveling.
Alternatively, the driving information includes：Running environment and transport condition, the fleet management system also include：Visit
Survey module and communication module, be both provided with the detecting module on each leader's vehicle at least two fleet, each
The communication module is both provided with vehicle,
In any fleet：
The detecting module is used for the running environment for detecting any fleet；
The first formation control module is additionally operable to control leader's vehicle according to the running environment of any fleet
Traveling；
First communication module is used to report the running environment of any fleet and the neck to the remote monitoring module
The transport condition of team's vehicle, the first communication module are the communication module being arranged on leader's vehicle；
Second communication module is used for the transport condition that second following vehicle is reported to the remote monitoring module, described
Second communication module is the communication module being arranged in second following vehicle.
Alternatively, the second formation control module is used for when the driving path of any fleet is straight line, according to
The transport condition of 3rd vehicle controls the second following vehicle traveling, makes second following vehicle and the 3rd car
The distance between be more than minimum safe distance, the minimum safe distance is：
Wherein, the D is the minimum safe distance, the S be second following vehicle and the 3rd vehicle it
Between static security distance, the vfFor the travel speed of second following vehicle, afFor second following vehicle
Acceleration, the t0For the braking time of second following vehicle, the vlIt is described for the travel speed of the 3rd vehicle
alFor the acceleration of the 3rd vehicle.
Alternatively, the second formation control module is used for when the driving path of any fleet is curve, according to
The transport condition of 3rd vehicle controls the second following vehicle traveling, makes second following vehicle and the 3rd car
Travel direction between angle be less than default angle, the difference of travel speed is less than predetermined threshold value, and makes described second to follow
Vehicle deceleration travels.
Second aspect, there is provided a kind of fleet management's method, applied to fleet management system, the fleet management system bag
Include：Remote monitoring module and formation control module, fleet management's method include：
The remote monitoring module monitors the driving information of at least two fleets, each car at least two fleet
Team includes leader's vehicle and follows the following vehicle of leader's vehicle traveling, on each vehicle at least two fleet
It is provided with the formation control module；
First formation control module controls leader's car in any fleet according to the driving information of at least two fleet
Traveling, the first formation control module be arranged in any fleet leader vehicle on formation control module；
Second formation control module controls the second following vehicle traveling according to the transport condition of the 3rd vehicle, and described second compiles
Team's control module is the formation control module being arranged in second following vehicle, and second following vehicle is described any
Any following vehicle in fleet, the vehicle that the 3rd vehicle is followed by second following vehicle.
Alternatively, fleet management's method also includes：
The remote monitoring module determines to correspond to any fleet according to the driving information of at least two fleet
Schedule information；
Leader vehicle of the remote monitoring module into any fleet sends the schedule information；
The first formation control module controls the neck in any fleet according to the driving information of at least two fleet
Team's vehicle traveling, including：
The first formation control module controls leader's vehicle in any fleet to travel according to the schedule information.
Alternatively, the driving information includes：Running environment and transport condition, the fleet management system also include：Visit
Survey module and communication module, be both provided with the detecting module on each leader's vehicle at least two fleet, each
The communication module is both provided with vehicle,
Before the driving information that the remote monitoring module monitors at least two fleets, fleet management's method is also wrapped
Include：
The detecting module detects the running environment of any fleet；
The first formation control module controls the neck in any fleet according to the running environment of any fleet
Team's vehicle traveling；
The second formation control module controls the second following vehicle row according to the transport condition of the 3rd vehicle
Sail；
First communication module reports the running environment of any fleet and any car to the remote monitoring module
The transport condition of leader's vehicle in team, the first communication module are the communication module being arranged on leader's vehicle；
Second communication module reports the transport condition of second following vehicle to the remote monitoring module, and described second
Communication module is the communication module being arranged in second following vehicle.
Alternatively, the second formation control module controls the second following vehicle row according to the transport condition of the 3rd vehicle
Sail, including：
When the driving path of any fleet is straight line, the second formation control module is according to the 3rd vehicle
Transport condition control second following vehicle traveling, make the distance between second following vehicle and the 3rd vehicle
More than minimum safe distance, the minimum safe distance is：
Wherein, the D is the minimum safe distance, the S be second following vehicle and the 3rd vehicle it
Between static security distance, the vfFor the travel speed of second following vehicle, afFor second following vehicle
Acceleration, the t0For the braking time of second following vehicle, the vlIt is described for the travel speed of the 3rd vehicle
alFor the acceleration of the 3rd vehicle.
Alternatively, the second formation control module controls the second following vehicle row according to the transport condition of the 3rd vehicle
Sail, including：
When the driving path of any fleet is curve, the second formation control module is according to the 3rd vehicle
Transport condition control second following vehicle traveling, make the travel direction of second following vehicle and the 3rd vehicle
Between angle be less than default angle, the difference of travel speed is less than predetermined threshold value, and makes the second following vehicle Reduced Speed Now.
The beneficial effect that technical scheme provided by the invention is brought is：
The present invention, which provides a kind of fleet management system and method, fleet management system, to be included：Remote monitoring module and formation
Control module, remote monitoring module be used for monitor at least two fleets driving information, each fleet include leader vehicle and with
With the following vehicle of leader's vehicle traveling, formation control module is provided with each vehicle；In any fleet：First, which forms into columns, controls
Molding block is used to control leader's vehicle traveling according to the driving information of at least two fleets；Second formation control module is used for basis
The transport condition of 3rd vehicle controls the second following vehicle traveling, the vehicle that the 3rd vehicle is followed by the second following vehicle.By
The driving information of at least two fleets is monitored in remote monitoring module, monitoring range is larger, and therefore, fleet management system can be
Fleet is managed in a wide range of, solves the problems, such as that the management effect of fleet management system in the prior art is poor, is improved
Fleet management effect.
It should be appreciated that the general description and following detailed description of the above are only exemplary, this can not be limited
Invention.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is a kind of schematic diagram of implementation environment involved by each embodiment of the present invention；
Fig. 2 is a kind of block diagram for fleet management system that one embodiment of the invention provides；
Fig. 3 is a kind of block diagram for fleet management system that another embodiment of the present invention provides；
Fig. 4 is a kind of method flow diagram for fleet management's method that one embodiment of the invention provides；
Fig. 5 is a kind of method flow diagram for fleet management's method that another embodiment of the present invention provides；
Fig. 6 is a kind of method flow diagram for fleet management's method that further embodiment of the present invention provides.
Accompanying drawing herein is merged in specification and forms the part of this specification, shows the implementation for meeting the present invention
Example, and for explaining principle of the invention together with specification.
Embodiment
In order that the object, technical solutions and advantages of the present invention are clearer, the present invention is made below in conjunction with accompanying drawing into
One step it is described in detail, it is clear that the described embodiment only a part of embodiment of the present invention, rather than whole implementation
Example.Based on the embodiment in the present invention, what those of ordinary skill in the art were obtained under the premise of creative work is not made
All other embodiment, belongs to the scope of protection of the invention.
Fig. 1 is refer to, it illustrates a kind of schematic diagram of implementation environment involved by each embodiment of the present invention, referring to figure
1, the implementation environment can include：Customer center and at least one fleet (fleet is only drawn in Fig. 1), customer center can be with
The driving information of at least one fleet of remote monitoring, illustratively, customer center can set remote monitoring module, by remote monitoring
Module is monitored to the driving information of at least one fleet, and in practical application, remote monitoring module can be monitoring device, than
Such as, the monitoring device can be mobile phone, computer etc., and the staff of customer center can be by monitoring device at least one car
Team is monitored.
Wherein, each fleet at least one fleet of customer center monitoring includes at least two driving vehicles, such as
Shown in Fig. 1, at least two driving vehicles can include for this：Leader vehicle 01 and follow successively leader's vehicle 01 traveling follow
Vehicle 02, wherein, in any fleet, short distance can be passed through between the vehicle (including leader's vehicle and driving vehicle) in fleet
Wireless network is communicated, and the short-range wireless networking can include but is not limited to：Wireless Fidelity (English：Wireless
Fidelity；Referred to as：WIFI), bluetooth, infrared, purple honeybee (English：Zigbee) etc., the embodiment of the present disclosure is not limited this.
In any fleet, the vehicle in fleet can pass through global system for mobile communications (English：Global System for Mobile
Communication；Referred to as：GSM) network is communicated with the remote monitoring module of customer center.
It can be seen from Fig. 1, the present embodiments relate to two sets of communications network systems, two sets of communications network systems are respectively
GSM communication network system and short distance radio communication network system, two sets of communications network systems constitute complementary system, actual to answer
In, when a set of communications network system breaks down, another set of communications network system can also realize the communication between vehicle,
Therefore, the reliability of fleet management system is higher.
Fig. 2 is refer to, a kind of block diagram of the fleet management system 200 provided it illustrates one embodiment of the invention should
Fleet management system 200 can be used for being managed fleet, and referring to Fig. 2, the fleet management system 200 can include：Remotely
Monitoring module 210 and formation control module 220.
Remote monitoring module 210 is used for the driving information for monitoring at least two fleets, each car at least two fleets
Team includes leader's vehicle and follows the following vehicle of leader's vehicle traveling, and volume is provided with each vehicle at least two fleets
Team's control module.
In any fleet at least two fleets：
First formation control module is used for the driving information control of at least two fleets monitored according to remote monitoring module 210
System leader's vehicle traveling, the first formation control module are the formation control module 220 being arranged on leader's vehicle.Such as this
One formation control module can be the formation control module on the leader's vehicle 01 being arranged in implementation environment shown in Fig. 1；
Second formation control module is used to control the second following vehicle traveling according to the transport condition of the 3rd vehicle, and second compiles
Team's control module is the formation control module 220 being arranged in the second following vehicle, and the second following vehicle is in any fleet
Any following vehicle, the vehicle that the 3rd vehicle is followed by the second following vehicle.For example the second formation control module can be
The formation control module being arranged in any following vehicle 02 in implementation environment shown in Fig. 1.
In summary, fleet management system provided in an embodiment of the present invention includes：Remote monitoring module and formation control mould
Block, remote monitoring module are used for the driving information for monitoring at least two fleets, and each fleet includes leader's vehicle and follows leader
The following vehicle of vehicle traveling, is provided with formation control module on each vehicle；In any fleet：First formation control module
For controlling leader's vehicle traveling according to the driving information of at least two fleets；Second formation control module is used for according to the 3rd car
Transport condition control the second following vehicle traveling, the vehicle that the 3rd vehicle is followed by the second following vehicle.Due to long-range
Monitoring module monitors the driving information of at least two fleets, and monitoring range is larger, and therefore, fleet management system can be a wide range of
It is interior that fleet is managed, solve the problems, such as that the management effect of fleet management system in the prior art is poor, improve fleet
Management effect.
Fig. 3 is refer to, a kind of block diagram of the fleet management system 300 provided it illustrates another embodiment of the present invention,
The fleet management system 300 can be used for being managed fleet, and referring to Fig. 3, the fleet management system 300 can include：Far
Range monitoring module 310 and formation control module 320.
Remote monitoring module 310 is used for the driving information for monitoring at least two fleets, each car at least two fleets
Team includes leader's vehicle and follows the following vehicle of leader's vehicle traveling, and volume is provided with each vehicle at least two fleets
Team's control module；
In any fleet at least two fleets：
First formation control module is used for the driving information control of at least two fleets monitored according to remote monitoring module 310
System leader's vehicle traveling, the first formation control module are the formation control module 320 being arranged on leader's vehicle；Such as this
One formation control module can be the formation control module on the leader's vehicle 01 being arranged in implementation environment shown in Fig. 1；
Second formation control module is used to control the second following vehicle traveling according to the transport condition of the 3rd vehicle, and second compiles
Team's control module is the formation control module 320 being arranged in the second following vehicle, and the second following vehicle is in any fleet
Any following vehicle, the vehicle that the 3rd vehicle is followed by the second following vehicle.For example the second formation control module can be
The formation control module being arranged in any following vehicle 02 in implementation environment shown in Fig. 1.
Alternatively, remote monitoring module 310 is additionally operable to the row of at least two fleets monitored according to remote monitoring module 310
The schedule information that information determines to correspond to any fleet is sailed, and leader's vehicle into any fleet sends schedule information；
First formation control module is used for the schedule information control leader's vehicle row sent according to remote monitoring module 310
Sail.
Alternatively, driving information includes：Running environment and transport condition, please continue to refer to Fig. 3, the fleet management system
300 can also include：Detecting module 330 and communication module 340, it is both provided with each leader's vehicle at least two fleets
Detecting module 330, communication module 340 is both provided with each vehicle,
In any fleet：
Detecting module 330 is used for the running environment for detecting any fleet；For example detecting module 330 can be to be arranged on Fig. 1
The detecting module on leader's vehicle 01 in shown implementation environment, the detecting module 330 are used to detect in implementation environment shown in Fig. 1
Fleet running environment；
The running environment that first formation control module is additionally operable to any fleet detected according to detecting module 330 controls leader
Vehicle travels；Such as first formation control module implement according to the running environment control figure 1 that detecting module 330 detects
Leader's vehicle 01 in environment travels；
First communication module is used for the row for running environment and leader's vehicle that any fleet is reported to remote monitoring module 310
State is sailed, first communication module is the communication module 340 being arranged on leader's vehicle；For example first communication module is to be arranged on
The communication module on leader's vehicle 01 in implementation environment shown in Fig. 1；
Second communication module is used for the transport condition that the second following vehicle is reported to remote monitoring module 310, the second communication
Module is the communication module 340 being arranged in the second following vehicle.For example second communication module is implemented to be arranged on shown in Fig. 1
The communication module in any following vehicle 02 in environment.
Alternatively, the second formation control module is used for when the driving path of any fleet is straight line, according to the 3rd vehicle
Transport condition control the second following vehicle traveling, the distance between the second following vehicle and the 3rd vehicle is more than minimum safe
Distance, minimum safe distance are：
Wherein, D is minimum safe distance, static security distances of the S between the second following vehicle and the 3rd vehicle, vfFor
The travel speed of second following vehicle, afFor the acceleration of the second following vehicle, t0For the braking time of the second following vehicle, vl
For the travel speed of the 3rd vehicle, alFor the acceleration of the 3rd vehicle.
Alternatively, the second formation control module is used for when the driving path of any fleet is curve, according to the 3rd vehicle
Transport condition control the second following vehicle traveling, make the angle between the second following vehicle and the travel direction of the 3rd vehicle small
In default angle, the difference of travel speed is less than predetermined threshold value, and makes the second following vehicle Reduced Speed Now.
It should be noted that in practical application, fleet management system 300 provided in an embodiment of the present invention can also include：
Human-computer interaction module, global positioning system (English：Global Positioning System；Referred to as：GPS) module, diagnosis mould
Block, power supply module, module, input/output module etc. are driven, the embodiment of the present invention is not limited this.
Human-computer interaction module can be set on each vehicle in any fleet, and the second human-computer interaction module is used for second
Following vehicle adds or exited any fleet, and when the second following vehicle adds any fleet, the second human-computer interaction module is used
In the transport condition that the second following vehicle and vehicle of leading a group is presented, the second human-computer interaction module is to be arranged in the second following vehicle
Human-computer interaction module；First human-computer interaction module is used for the transport condition that all vehicles in any fleet are presented, and this first
Human-computer interaction module is the human-computer interaction module on the leader's vehicle being arranged in any fleet.Wherein, human-computer interaction module can
Think the car-mounted terminal of vehicle, the embodiment of the present invention is not limited this.
Alternatively, remote monitoring module is additionally operable to be determined to correspond to target fleet according to the driving information of at least two fleets
Information warning, and send the information warning to leader's vehicle of target fleet, the man-machine friendship on leader's vehicle of target fleet
The information warning can be presented to the driver of leader's vehicle of target fleet in mutual module, in order to which driver is according to information warning
Drive leader's vehicle of target fleet.
GPS module can be set on each vehicle in any fleet, the GPS module can realize the positioning of vehicle,
Any vehicle can be calculated according to the GPS location information of other vehicles in the GPS location information of itself and fleet itself with
The distance between other vehicles, the embodiment of the present invention are not limited this.It should be noted that the GPS module can be high-precision
GPS module is spent, its deviations is in the range of 1 meter.
Diagnostic module can be set on each vehicle in any fleet, the diagnostic module can be used for diagnosing vehicle
Real-time status, such as, the diagnostic module can diagnose whether vehicle breaks down, the oil mass in oil tank of vehicle, the state of car door,
Travel speed of vehicle etc., wherein, diagnostic module can pass through controller local area network's (English of vehicle：Controller
Area Network；Referred to as：CAN) bus obtains the real-time status of vehicle and diagnosed, and diagnostic module obtains the real-time of vehicle
The state and process diagnosed may be referred to prior art, the embodiment of the present invention will not be repeated here.
Power supply module can be set on each vehicle in any fleet, the power supply module is used to be the electricity consumption in vehicle
Equipment is powered, and in practical application, the power supply module can be storage battery etc., and the embodiment of the present invention is not limited this.
Driving module can be set on each vehicle in any fleet, and formation control module control vehicle traveling can be with
Decision-making action is provided for vehicle for formation control module, the decision-making then provided by driving module according to formation control module acts
Vehicle traveling is controlled, is acted that is, performing the decision-making that formation control module provides by driving module, wherein, decision-making action can be with
Including：Whether vehicle needs to exit fleet, if needs to accelerate, whether needs deceleration etc., the embodiment of the present invention is not limited this
It is fixed.It should be noted that in practical application, it can will drive module and formation control module integrates so that control of forming into columns
Molding block can also have the function of performing decision-making action, so as to which formation control module can control vehicle to travel.In the present invention
In embodiment, the driving module can be automatic Pilot module, and it uses the brake for electronically controlling vehicle, throttle and braking
Deng so that drive the intellectuality of module.
Input/output module can be set on each vehicle in any fleet, the input/output module will can form into columns
The decision-making action of control module and vehicle-state output, and shown by human-computer interaction module, the embodiment of the present invention is herein
Repeat no more.
In summary, fleet management system provided in an embodiment of the present invention includes：Remote monitoring module and formation control mould
Block, remote monitoring module are used for the driving information for monitoring at least two fleets, and each fleet includes leader's vehicle and follows leader
The following vehicle of vehicle traveling, is provided with formation control module on each vehicle；In any fleet：First formation control module
For controlling leader's vehicle traveling according to the driving information of at least two fleets；Second formation control module is used for according to the 3rd car
Transport condition control the second following vehicle traveling, the vehicle that the 3rd vehicle is followed by the second following vehicle.Due to long-range
Monitoring module monitors the driving information of at least two fleets, and monitoring range is larger, and therefore, fleet management system can be a wide range of
It is interior that fleet is managed, solve the problems, such as that the management effect of fleet management system in the prior art is poor, improve fleet
Management effect.
System provided in an embodiment of the present invention can apply to methods described below, modules in the embodiment of the present invention
Workflow and operation principle may refer to description in hereafter each embodiment.
Fig. 4 is refer to, a kind of method flow diagram of the fleet management's method provided it illustrates one embodiment of the invention,
The present embodiment is applied to be illustrated in fleet management system in fleet management's method, and the fleet management system can be with
For the fleet management system shown in Fig. 2 or Fig. 3, wherein, Fig. 2 or the fleet management system shown in Fig. 3 can include long-range
Monitoring module and formation control module.Referring to Fig. 4, fleet management's method can include the following steps：
Step 401, remote monitoring module monitor the driving information of at least two fleets, each car at least two fleets
Team includes leader's vehicle and follows the following vehicle of leader's vehicle traveling, and volume is provided with each vehicle at least two fleets
Team's control module.
Step 402, the first formation control module control the neck in any fleet according to the driving information of at least two fleets
Team's vehicle traveling, the first formation control module are the formation control module on the leader's vehicle being arranged in any fleet.
Step 403, the second formation control module control the second following vehicle traveling according to the transport condition of the 3rd vehicle, the
Two formation control modules are the formation control module being arranged in the second following vehicle, and the second following vehicle is in any fleet
Any following vehicle, the vehicle that the 3rd vehicle is followed by the second following vehicle.
In summary, fleet management's method provided in an embodiment of the present invention, remote monitoring module monitor at least two fleets
Driving information, each fleet at least two fleets includes leader's vehicle and follows the following vehicle of leader's vehicle traveling,
Formation control module is provided with each vehicle；First formation control module is appointed according to the control of the driving information of at least two fleets
Leader's vehicle traveling in one fleet；Second formation control module controls the second following vehicle according to the transport condition of the 3rd vehicle
Traveling, the vehicle that the 3rd vehicle is followed by the second following vehicle.Because remote monitoring module monitors the row of at least two fleets
Information is sailed, monitoring range is larger, and therefore, fleet management system can be managed interior on a large scale to fleet, be solved existing
The problem of management effect of fleet management system is poor in technology, improve fleet management's effect.
Alternatively, fleet management's method also includes：
Remote monitoring module determines the schedule information corresponding to any fleet according to the driving information of at least two fleets；
Leader vehicle of the remote monitoring module into any fleet sends schedule information；
Step 402 can include：
First formation control module controls leader's vehicle in any fleet to travel according to schedule information.
Alternatively, driving information includes：Running environment and transport condition, as shown in figure 3, fleet management system can also wrap
Include：Detecting module and communication module, detecting module, each vehicle are both provided with each leader's vehicle at least two fleets
On be both provided with communication module, before step 401, fleet management's method also includes：
Detecting module detects the running environment of any fleet；
First formation control module controls leader's vehicle in any fleet to travel according to the running environment of any fleet；
Second formation control module controls the second following vehicle traveling according to the transport condition of the 3rd vehicle；
Leader's car in running environment from any fleet to remote monitoring module and any fleet that first communication module reports
Transport condition, first communication module be arranged on leader vehicle on communication module；
Second communication module reports the transport condition of the second following vehicle to remote monitoring module, and second communication module is to set
Put the communication module in the second following vehicle.
Alternatively, step 403 can include：
When the driving path of any fleet is straight line, the second formation control module is according to the transport condition control of the 3rd vehicle
The second following vehicle traveling is made, the distance between the second following vehicle and the 3rd vehicle is more than minimum safe distance, minimum peace
Full distance is：
Wherein, D is minimum safe distance, static security distances of the S between the second following vehicle and the 3rd vehicle, vfFor
The travel speed of second following vehicle, afFor the acceleration of the second following vehicle, t0For the braking time of the second following vehicle, vl
For the travel speed of the 3rd vehicle, alFor the acceleration of the 3rd vehicle.
Alternatively, step 403 can include：
When the driving path of any fleet is curve, the second formation control module is according to the transport condition control of the 3rd vehicle
The second following vehicle traveling is made, the angle between the second following vehicle and the travel direction of the 3rd vehicle is less than default angle,
The difference of travel speed is less than predetermined threshold value, and makes the second following vehicle Reduced Speed Now.
In summary, fleet management's method provided in an embodiment of the present invention, remote monitoring module monitor at least two fleets
Driving information, each fleet at least two fleets includes leader's vehicle and follows the following vehicle of leader's vehicle traveling,
Formation control module is provided with each vehicle；First formation control module is appointed according to the control of the driving information of at least two fleets
Leader's vehicle traveling in one fleet；Second formation control module controls the second following vehicle according to the transport condition of the 3rd vehicle
Traveling, the vehicle that the 3rd vehicle is followed by the second following vehicle.Because remote monitoring module monitors the row of at least two fleets
Information is sailed, monitoring range is larger, and therefore, fleet management system can be managed interior on a large scale to fleet, be solved existing
The problem of management effect of fleet management system is poor in technology, improve fleet management's effect.
Fig. 5 is refer to, a kind of method flow of the fleet management's method provided it illustrates another embodiment of the present invention
Figure, the present embodiment are applied to be illustrated in fleet management system in fleet management's method, the fleet management system
Can be the fleet management system shown in Fig. 3, wherein, the fleet management system shown in Fig. 3 can include remote monitoring module, compile
Team's control module, detecting module and communication module.Remote monitoring module is used for the driving information for monitoring at least two fleets, the row
Sailing information can include：Running environment and transport condition, the running environment are the running environment of fleet, and the transport condition can wrap
Include：The transport condition of vehicle in the transport condition of fleet and fleet, wherein, the transport condition of fleet can be the row of fleet
Sail or stop, the transport condition of vehicle can be the travel speed of vehicle, acceleration, travel direction etc., the embodiment of the present invention
This is not limited.Each fleet at least two fleets includes leader's vehicle and follows the Following Car of leader's vehicle traveling
, formation control module and communication module are both provided with each vehicle at least two fleets, it is each to lead a group on vehicle
It is provided with detecting module.Referring to Fig. 5, fleet management's method can include the following steps：
Step 501, detecting module detect the running environment of any fleet, and detecting module is the neck being arranged in any fleet
Detecting module on team's vehicle.
In embodiments of the present invention, it is both provided with detecting module on leader's vehicle in each fleet, should in practical application
Detecting module can include：The number of millimetre-wave radar device, camera apparatus etc., millimetre-wave radar device and camera apparatus and
Set location can be configured according to being actually needed, such as, default value millimetre-wave radar device and camera can be filled
Put the surrounding for being arranged on leader's vehicle.Illustratively, the number of millimetre-wave radar device can be 6, and the number of camera apparatus can be with
For 2,2 camera apparatus can be arranged on the front windshield of leader's vehicle, and 6 millimetre-wave radar devices can be uniform
The surrounding of leader's vehicle is distributed in, the embodiment of the present invention is not limited this.
Detecting module on leader's vehicle of any fleet can detect the running environment of leader's vehicle, the leader
The running environment of fleet (any fleet) where the running environment of vehicle is referred to as leader's vehicle.Wherein, the traveling ring
Border can include：The road conditions of fleet's current driving road, the barrier and lane line that potential threat to fleet's traveling be present, when
When fleet's travel is curved road, detecting module can obtain curvature of curved road etc., the embodiment of the present invention to this not
Limit
Specifically, millimetre-wave radar device can detect the travel speed of the vehicle in front of any fleet, be located at
The distance between vehicle in front of any fleet and leader's vehicle in any fleet and in front of any fleet
The orientation of vehicle etc.；Camera apparatus can detect lane line, and obtain lane curvature according to lane line or road edge.
It should be noted that in embodiments of the present invention, in order to improve the detectivity of detecting module, it is arranged on leader's car
The detection range of millimetre-wave radar device in front of can be 150m (rice), be arranged on the millimeter wave thunder at leader's vehicle side rear
Detection range up to device can be 50m.The embodiment of the present invention by millimetre-wave radar device and camera apparatus by being arranged on neck
The surrounding of team's vehicle, it is possible to achieve the running environment of 360 degrees omnidirection detection leader's vehicle periphery, improve the detection of detecting module
Ability.
It should also be noted that, the embodiment of the present invention is illustrated exemplified by setting detecting module on leader's vehicle
, in practical application, detecting module can also be also provided with following vehicle, the embodiment of the present invention is not limited this.This hair
Bright embodiment is not provided with detecting module by setting detecting module on leader's vehicle in following vehicle, it is possible to reduce car
Team's hardware cost.
Step 502, the first formation control module control leader's car in any fleet according to the running environment of any fleet
Traveling, the first formation control module be arranged in any fleet leader vehicle on formation control module.
The first formation control module being arranged on leader's vehicle can be according to the running environment control that detecting module detects
System leader's vehicle traveling.Specifically, the first formation control module can determine to correspond to leader's car according to the running environment of fleet
Decision-making action, and then according to this correspond to leader vehicle decision-making action control vehicle travelled.
It should be noted that in practical application, driving module can also be set on each vehicle in any fleet, first
Formation control module is determined after corresponding to the decision-making action of leader's vehicle, can be acted the decision-making and is sent on leader's vehicle
Driving module, performed by driving module.Such as when the road conditions in the running environment of any fleet are poor, first volume
The decision-making action for the leader's vehicle corresponded in any fleet that team's control module determines can be " deceleration ", then first form into columns
Decision-making action " deceleration " is sent to the driving module on leader's vehicle by control module, and the driving module can determine according to this
Plan action control leader's vehicle traveling, specifically, drive the control such as accelerator open degree, braking strength that module can be by controlling vehicle
Leader's vehicle traveling is made, the embodiment of the present invention is not limited this.
Step 503, the second formation control module control the second following vehicle traveling according to the transport condition of the 3rd vehicle, the
Two formation control modules are the formation control module being arranged in the second following vehicle, and the second following vehicle is in any fleet
Any following vehicle, the vehicle that the 3rd vehicle is followed by the second following vehicle.
Wherein, the 3rd vehicle can be that leader's vehicle can also be following vehicle, and the embodiment of the present invention is not limited this
It is fixed.The embodiment of the present invention illustrates so that the 3rd vehicle is leader's vehicle as an example.Therefore, the second formation control module can be with
Second following vehicle traveling is controlled according to the transport condition of leader's vehicle in step 502.Wherein, the traveling shape of leader's vehicle
State is leader's vehicle that first formation control module controls in any fleet according to the running environment of any fleet in step 502
After traveling, the transport condition of leader's vehicle.For example the transport condition of leader's vehicle can be opened for the throttle of leader's vehicle
Degree, braking strength, travel speed, acceleration etc., the embodiment of the present invention is not limited this.
Wherein, can be communicated between the vehicle in any fleet, leader's vehicle can be sent certainly to second following vehicle
The transport condition of body so that the second formation control module controls the second following vehicle to travel according to the transport condition of leader's vehicle.
Illustratively, second following vehicle can set driving module, and the second formation control module can be according to the traveling of the 3rd vehicle
State determines to act corresponding to the decision-making of second following vehicle, and then is entered by driving module according to the decision-making action control vehicle
Every trade is sailed.
It should be noted that in embodiments of the present invention, the distance between vehicle in any fleet need to keep relative constancy,
Therefore, in any fleet, the decision-making action corresponding to following vehicle is generally identical with the decision-making action corresponding to leader's car, this
Inventive embodiments are not limited this.
In embodiments of the present invention, the driving path of any fleet can be that straight line can also be curve, therefore, for row
The difference in path is sailed, the second formation control module can travel according to the different following vehicles of decision-making action control second.Specifically
Ground：
On the one hand, when the driving path of any fleet is straight line, the second formation control module is according to the row of the 3rd vehicle
Sailing state controls the second following vehicle traveling to include：
Second formation control module controls the second following vehicle traveling according to the transport condition of the 3rd vehicle, makes second to follow
The distance between vehicle and the 3rd vehicle are more than minimum safe distance, and minimum safe distance is：
Wherein, D is minimum safe distance, static security distances of the S between the second following vehicle and the 3rd vehicle, vfFor
The travel speed of second following vehicle, afFor the acceleration of the second following vehicle, t0For the braking time of the second following vehicle, vl
For the travel speed of the 3rd vehicle, alFor the acceleration of the 3rd vehicle.
Wherein, the static security distance S between the second following vehicle and the 3rd vehicle is typically what is pre-set, and second
Formation control module can obtain the travel speed v of the second following vehiclef, acceleration afAnd braking time t0, and second forms into columns
Control module can receive the travel speed v of the 3rd vehicle of the 3rd vehicle transmissionlWith the acceleration a of the 3rd vehiclel, and then adopt
Minimum safe distance is calculated with above-mentioned minimum safe distance calculation formula, and is controlled between the second following vehicle and the 3rd vehicle
Distance be more than the minimum safe distance.For example the minimum safe distance can be 10 meters, therefore, the second formation control module
The distance between the second following vehicle and the 3rd vehicle can be controlled to be more than 10 meters, the embodiment of the present invention is not limited this.
It should be noted that in practical application, when the speed of each vehicle in any fleet is equal, and at the uniform velocity go
Sail, and travel speed is when being less than pre-set velocity (between vehicle during geo-stationary), second following vehicle and the 3rd vehicle
The distance between might be less that the minimum safe distance, the embodiment of the present invention is not limited this.
On the other hand, when the driving path of any fleet is curve, the second formation control module is according to the 3rd vehicle
Transport condition controls the second following vehicle traveling to include：
Second formation control module controls the second following vehicle traveling according to the transport condition of the 3rd vehicle, makes second to follow
Angle between the travel direction of vehicle and the 3rd vehicle is less than default angle, and the difference of travel speed is less than predetermined threshold value, and makes
Second following vehicle Reduced Speed Now.
Wherein, default angle, predetermined threshold value can be configured according to being actually needed, and the embodiment of the present invention is not done to this
Limit.Second formation control module can receive the travel direction of the 3rd vehicle of the 3rd vehicle transmission, travel speed and add
Speed etc., and then decision-making action is determined, then performing this by the driving module being arranged in second following vehicle determines action,
Illustratively, drive the anglec of rotation of module control direction disk, control accelerator open degree, braking strength etc. so that the second following vehicle
Angle between the travel direction of the 3rd vehicle is less than default angle, and the difference of travel speed is less than predetermined threshold value, and makes second
Following vehicle Reduced Speed Now.
It should be noted that in embodiments of the present invention, the path point that itself passes through can be stored in time by leader's vehicle
Go through in point data base, the following vehicle being then broadcast to these path points in fleet so that each following vehicle is in traveling
During all pass through the path point, wherein, each path point can include the lateral coordinates of vehicle position, longitudinal coordinate
And height coordinate, lateral coordinates can be the longitude that GPS module is got, longitudinal coordinate can get for GPS module
Latitude value, height coordinate can be the height above sea level of the vehicle position, and the embodiment of the present invention do not limited this.
It should also be noted that, in embodiments of the present invention, when the driving path of any fleet is curve, any car
Any vehicle in team enters before bend, it is necessary to Reduced Speed Now, before normally can accelerating or keep when coming off the curve
Speed travels, and during entrance bend, leader's vehicle and following vehicle need to adjust the acceleration of vehicle according to the curvature of bend
And speed, the embodiment of the present invention will not be repeated here.
In running environment from any fleet to remote monitoring module and any fleet that step 504, first communication module report
Leader vehicle transport condition, first communication module be arranged in any fleet leader vehicle on communication module.
After first formation control module controls leader's vehicle traveling in any fleet according to the running environment of any fleet,
First communication module can report leader's vehicle in the running environment and any fleet of any fleet to remote monitoring module
Transport condition, wherein, the running environment is the running environment that detecting module detects in step 501, leader's vehicle
Transport condition is the neck that first formation control module controls in any fleet according to the running environment of any fleet in step 502
After team's vehicle traveling, the transport condition of leader's vehicle.For example the transport condition of leader's vehicle can be leader's vehicle
Accelerator open degree, braking strength, travel speed, acceleration etc., the embodiment of the present invention is not limited this.
Step 505, second communication module report the transport condition of the second following vehicle, the second communication to remote monitoring module
Module is the communication module being arranged in the second following vehicle, and the second following vehicle is any following vehicle in any fleet.
After second formation control module controls the second following vehicle traveling according to the transport condition of the 3rd vehicle, the second communication
Module can report the transport condition of second following vehicle to remote monitoring module, and the transport condition of second following vehicle is
After controlling the second following vehicle traveling according to the transport condition of the 3rd vehicle for the second formation control module in step 503, this
The transport condition of two following vehicles.For example the transport condition of second following vehicle can be the throttle of second following vehicle
Aperture, braking strength, travel speed, acceleration, travel direction etc., the embodiment of the present invention is not limited this.
Step 506, remote monitoring module monitor the driving information of at least two fleets, and the driving information includes：Travel ring
Border and transport condition.
Remote monitoring module can receive the running environment that the vehicle in each fleet at least two fleets reports and
Transport condition (is referred to as driving information), and the driving information of at least two fleet is monitored.In practical application, remotely
Monitoring module can be monitoring device, and the monitoring device can show the driving information of Liang Ge fleets, and be set by monitoring the monitoring
Standby staff is monitored to the driving information of at least two fleet.
Step 507, the first formation control module control the neck in any fleet according to the driving information of at least two fleets
Team's vehicle traveling.
Remote monitoring module can be sent to leader's vehicle in any fleet at least two fleets this at least two
The driving information of fleet, and then the first formation control module can control any fleet according to the driving information of at least two fleets
In leader's vehicle traveling.
For example remote monitoring module can monitor fleet A and fleet B, remote monitoring module can be by fleet A and fleet
B driving information degree is sent to fleet A, the first formation control module on leader's vehicle in fleet A can according to fleet A and
Leader's vehicle traveling in fleet B driving information control fleet A.The traveling arrived equivalent to leader's vehicle detection in fleet A
The scope of environment is bigger, and therefore, fleet management system can be managed interior on a large scale to fleet.
Step 508, the second formation control module control the second following vehicle traveling according to the transport condition of the 3rd vehicle.
The implementation process of the step 508 may be referred to above-mentioned steps 503, and the embodiment of the present invention will not be repeated here.
It should be noted that in embodiments of the present invention, during any fleet travels, remote monitoring module monitoring
To any fleet upcoming traffic accident when, remote monitoring module can send advertisement message to any fleet, in order to
Any fleet's slow down detours.If traffic accident occurs in the vehicle in any fleet, remote monitoring module can
To send advertisement message to leader's vehicle of any fleet, leader's vehicle can control any car according to the advertisement message
Team stops traveling, and if necessary, the staff of remote monitoring module can also be to traffic administration institute door alarm.
It should also be noted that, during any fleet travels, when being in an emergency, in any fleet
Leader's vehicle can broadcast the transport condition of itself to all following vehicles in any fleet, and any following vehicle can root
Travelled according to the transport condition of leader's vehicle, such as, any following vehicle can slow down according to the transport condition of leader's vehicle
Traveling, it is possible thereby to avoid the vehicle in any fleet from colliding.
In summary, fleet management's method provided in an embodiment of the present invention, remote monitoring module monitor at least two fleets
Driving information, each fleet at least two fleets includes leader's vehicle and follows the following vehicle of leader's vehicle traveling,
Formation control module is provided with each vehicle；First formation control module is appointed according to the control of the driving information of at least two fleets
Leader's vehicle traveling in one fleet；Second formation control module controls the second following vehicle according to the transport condition of the 3rd vehicle
Traveling, the vehicle that the 3rd vehicle is followed by the second following vehicle.Because remote monitoring module monitors the row of at least two fleets
Information is sailed, monitoring range is larger, and therefore, fleet management system can be managed interior on a large scale to fleet, be solved existing
The problem of management effect of fleet management system is poor in technology, improve fleet management's effect.
Fig. 6 is refer to, a kind of method flow of the fleet management's method provided it illustrates further embodiment of the present invention
Figure, the present embodiment are applied to be illustrated in fleet management system in fleet management's method, the fleet management system
Can be the fleet management system shown in Fig. 3, wherein, the fleet management system shown in Fig. 3 can include remote monitoring module, compile
Team's control module, detecting module and communication module.Remote monitoring module is used for the driving information for monitoring at least two fleets, the row
Sailing information can include：Running environment and transport condition, the running environment are the running environment of fleet, and the transport condition can wrap
Include：The transport condition of vehicle in the transport condition of fleet and fleet, wherein, the transport condition of fleet can be the row of fleet
Sail or stop, the transport condition of vehicle can be the travel speed of vehicle, acceleration, travel direction etc., the embodiment of the present invention
This is not limited.Each fleet at least two fleets includes leader's vehicle and follows the Following Car of leader's vehicle traveling
, formation control module and communication module are provided with each vehicle at least two fleets, is set on each vehicle of leading a group
It is equipped with detecting module.Referring to Fig. 6, fleet management's method can include the following steps：
Step 601, detecting module detect the running environment of any fleet, and detecting module is the neck being arranged in any fleet
Detecting module on team's vehicle.
Step 602, the first formation control module control leader's car in any fleet according to the running environment of any fleet
Traveling, the first formation control module be arranged in any fleet leader vehicle on formation control module.
Step 603, the second formation control module control the second following vehicle traveling according to the transport condition of the 3rd vehicle, the
Two formation control modules are the formation control module being arranged in the second following vehicle, and the second following vehicle is in any fleet
Any following vehicle, the vehicle that the 3rd vehicle is followed by the second following vehicle.
In running environment from any fleet to remote monitoring module and any fleet that step 604, first communication module report
Leader vehicle transport condition, first communication module be arranged in any fleet leader vehicle on communication module.
Step 605, second communication module report the transport condition of the second following vehicle, the second communication to remote monitoring module
Module is the communication module being arranged in the second following vehicle, and the second following vehicle is any following vehicle in any fleet.
Step 606, remote monitoring module monitor the driving information of at least two fleets, and the driving information includes：Travel ring
Border and transport condition.
The implementation process of above-mentioned steps 601 to step 606 may be referred to step 501 in embodiment illustrated in fig. 5 to step
506, the embodiment of the present invention will not be repeated here.
Step 607, remote monitoring module determine the tune corresponding to any fleet according to the driving information of at least two fleets
Spend information.
Illustratively, the staff of remote monitoring module can determine to correspond to according to the driving information of at least two fleets
The schedule information of any fleet, illustratively, the staff of remote monitoring module are true according to the driving information of at least two fleets
The road conditions in the front of fixed any fleet, determine that the front of any fleet whether there is barrier, traffic accident whether occurs, appoints
Whether the distance of two adjacent vehicle times is less than pre-determined distance etc. inside one fleet, and then determines the scheduling of any fleet
Information, the schedule information is input to remote monitoring module, illustratively, the schedule information can be：Front section failure, please by
Travelled according to new driving path Y.
It should be noted that traffic thing may occur when staff monitors any fleet by remote monitoring module
Therefore when waiting potential danger, staff can input information warning to remote monitoring module, and the information warning, which is used to warn, leads a group
The driving of the driver's intervention of vehicle leader's vehicle.
The leader's vehicle of step 608, remote monitoring module into any fleet sends schedule information.
After remote monitoring module determines the schedule information corresponding to any fleet, the scheduling can be sent to any fleet
Information.
Step 609, the first formation control module control leader's vehicle in any fleet to travel according to schedule information.
, can be according to the tune after the schedule information that leader vehicle receiver road in any fleet is sent to remote monitoring module
Degree information controls leader's vehicle in any fleet to travel.
Illustratively, when the schedule information is：Front section failure, when please being travelled according to new driving path Y, first forms into columns
Control module controls leader's vehicle in any fleet to be travelled according to driving path Y according to the schedule information.
Step 610, the second formation control module control the second following vehicle traveling according to the transport condition of the 3rd vehicle.
The implementation process of the step 610 may be referred to the step 503 in embodiment illustrated in fig. 5, and the embodiment of the present invention is herein
Repeat no more.It should be noted that the second formation control module controls the second following vehicle according to the transport condition of the 3rd vehicle
During traveling, second following vehicle also travels according to new driving path Y.
It should be noted that in embodiments of the present invention, during any fleet travels, remote monitoring module monitoring
To any fleet upcoming traffic accident when, remote monitoring module can send advertisement message to any fleet, in order to
Any fleet's slow down detours.If traffic accident occurs in the vehicle in any fleet, remote monitoring module can
To send advertisement message to leader's vehicle of any fleet, leader's vehicle can control any car according to the advertisement message
Team stops traveling, and if necessary, the staff of remote monitoring module can also be to traffic administration institute door alarm.
It should also be noted that, during any fleet travels, when being in an emergency, in any fleet
Leader's vehicle can broadcast the transport condition of itself to all following vehicles in any fleet, and any following vehicle can root
Travelled according to the transport condition of leader's vehicle, such as, any following vehicle can slow down according to the transport condition of leader's vehicle
Traveling, it is possible thereby to avoid the vehicle in any fleet from colliding.
In summary, fleet management's method provided in an embodiment of the present invention, remote monitoring module monitor at least two fleets
Driving information, each fleet at least two fleets includes leader's vehicle and follows the following vehicle of leader's vehicle traveling,
Formation control module is provided with each vehicle；First formation control module is appointed according to the control of the driving information of at least two fleets
Leader's vehicle traveling in one fleet；Second formation control module controls the second following vehicle according to the transport condition of the 3rd vehicle
Traveling, the vehicle that the 3rd vehicle is followed by the second following vehicle.Because remote monitoring module monitors the row of at least two fleets
Information is sailed, monitoring range is larger, and therefore, fleet management system can be managed interior on a large scale to fleet, be solved existing
The problem of management effect of fleet management system is poor in technology, improve fleet management's effect.
It should be noted that：The fleet management system that above-described embodiment provides is when managing fleet, only with above-mentioned each function
The division progress of module, can be as needed and by above-mentioned function distribution by different function moulds for example, in practical application
Block is completed, i.e., the internal structure of system is divided into different functional modules, to complete all or part of work(described above
Energy.In addition, the fleet management system that above-described embodiment provides belongs to same design, fleet management with fleet management's embodiment of the method
The specific implementation process of system refers to embodiment of the method, repeats no more here.
One of ordinary skill in the art will appreciate that hardware can be passed through by realizing all or part of step of above-described embodiment
To complete, by program the hardware of correlation can also be instructed to complete, described program can be stored in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only storage, disk or CD etc..
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc., it should be included in the scope of the protection.
Claims (4)
1. a kind of fleet management system, it is characterised in that the fleet management system includes：Remote monitoring module and formation control
Module,
The remote monitoring module is used for the driving information for monitoring at least two fleets, each car at least two fleet
Team includes leader's vehicle and follows the following vehicle of leader's vehicle traveling, on each vehicle at least two fleet
It is provided with the formation control module；
In any fleet at least two fleet：
First formation control module is used for according to the driving information of at least two fleet control leader's vehicle traveling, institute
It is the formation control module being arranged on leader's vehicle to state the first formation control module；
Second formation control module is used to control the second following vehicle traveling according to the transport condition of the 3rd vehicle, and described second compiles
Team's control module is the formation control module being arranged in second following vehicle, and second following vehicle is described any
Any following vehicle in fleet, the vehicle that the 3rd vehicle is followed by second following vehicle；
The remote monitoring module is additionally operable to be determined to correspond to any car according to the driving information of at least two fleet
The schedule information of team, and leader's vehicle into any fleet sends the schedule information, the schedule information includes row
Sail routing information；
The first formation control module is used for according to schedule information control leader's vehicle traveling；
The second formation control module is used for when the driving path of any fleet is straight line, according to the 3rd vehicle
Transport condition control second following vehicle traveling, make the distance between second following vehicle and the 3rd vehicle
More than minimum safe distance, the minimum safe distance is：
<mrow>
<mi>D</mi>
<mo>=</mo>
<mi>S</mi>
<mo>+</mo>
<msub>
<mi>v</mi>
<mi>f</mi>
</msub>
<mo>&times;</mo>
<mrow>
<mo>(</mo>
<mfrac>
<msub>
<mi>v</mi>
<mi>f</mi>
</msub>
<mrow>
<mn>2</mn>
<msub>
<mi>a</mi>
<mi>f</mi>
</msub>
</mrow>
</mfrac>
<mo>+</mo>
<msub>
<mi>t</mi>
<mn>0</mn>
</msub>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mfrac>
<mrow>
<msup>
<msub>
<mi>v</mi>
<mi>l</mi>
</msub>
<mn>2</mn>
</msup>
</mrow>
<mrow>
<mn>2</mn>
<mo>&times;</mo>
<msub>
<mi>a</mi>
<mi>l</mi>
</msub>
</mrow>
</mfrac>
<mo>,</mo>
</mrow>
Wherein, the D is the minimum safe distance, and the S is between second following vehicle and the 3rd vehicle
Static security distance, the vfFor the travel speed of second following vehicle, afFor the acceleration of second following vehicle
Degree, the t0For the braking time of second following vehicle, the vlFor the travel speed of the 3rd vehicle, alFor
The acceleration of 3rd vehicle；
The second formation control module is used for when the driving path of any fleet is curve, according to the 3rd vehicle
Transport condition control second following vehicle traveling, make the travel direction of second following vehicle and the 3rd vehicle
Between angle be less than default angle, the difference of travel speed is less than predetermined threshold value, and makes the second following vehicle Reduced Speed Now.
2. fleet management system according to claim 1, it is characterised in that the driving information includes：Running environment and
Transport condition, the fleet management system also include：Detecting module and communication module, each neck at least two fleet
The detecting module is both provided with team's vehicle, the communication module is both provided with each vehicle,
In any fleet：
The detecting module is used for the running environment for detecting any fleet；
The first formation control module is additionally operable to according to the running environment of any fleet control leader's vehicle traveling；
First communication module is used to report the running environment of any fleet and leader's car to the remote monitoring module
Transport condition, the first communication module be arranged on it is described leader vehicle on communication module；
Transport condition of the second communication module for reporting second following vehicle to the remote monitoring module, described second
Communication module is the communication module being arranged in second following vehicle.
A kind of 3. fleet management's method, it is characterised in that applied to fleet management system, the fleet management system includes：Far
Range monitoring module and formation control module, fleet management's method include：
The remote monitoring module monitors the driving information of at least two fleets, each fleet bag at least two fleet
Include leader's vehicle and follow the following vehicle of leader's vehicle traveling, set on each vehicle at least two fleet
There is the formation control module；
First formation control module controls leader's vehicle row in any fleet according to the driving information of at least two fleet
Sail, the first formation control module is the formation control module on the leader's vehicle being arranged in any fleet；
Second formation control module controls the second following vehicle traveling according to the transport condition of the 3rd vehicle, and described second, which forms into columns, controls
Molding block is the formation control module being arranged in second following vehicle, and second following vehicle is any fleet
In any following vehicle, the vehicle that the 3rd vehicle is followed by second following vehicle；
The remote monitoring module determines the tune corresponding to any fleet according to the driving information of at least two fleet
Spend information；
Leader vehicle of the remote monitoring module into any fleet sends the schedule information；
The first formation control module controls leader's car in any fleet according to the driving information of at least two fleet
Traveling, including：
The first formation control module controls leader's vehicle in any fleet to travel according to the schedule information；
The second formation control module controls the second following vehicle traveling according to the transport condition of the 3rd vehicle, including：
When the driving path of any fleet is straight line, the second formation control module is according to the row of the 3rd vehicle
Sail state and control second following vehicle traveling, be more than the distance between second following vehicle and described 3rd vehicle
Minimum safe distance, the minimum safe distance are：
<mrow>
<mi>D</mi>
<mo>=</mo>
<mi>S</mi>
<mo>+</mo>
<msub>
<mi>v</mi>
<mi>f</mi>
</msub>
<mo>&times;</mo>
<mrow>
<mo>(</mo>
<mfrac>
<msub>
<mi>v</mi>
<mi>f</mi>
</msub>
<mrow>
<mn>2</mn>
<msub>
<mi>a</mi>
<mi>f</mi>
</msub>
</mrow>
</mfrac>
<mo>+</mo>
<msub>
<mi>t</mi>
<mn>0</mn>
</msub>
<mo>)</mo>
</mrow>
<mo>-</mo>
<mfrac>
<mrow>
<msup>
<msub>
<mi>v</mi>
<mi>l</mi>
</msub>
<mn>2</mn>
</msup>
</mrow>
<mrow>
<mn>2</mn>
<mo>&times;</mo>
<msub>
<mi>a</mi>
<mi>l</mi>
</msub>
</mrow>
</mfrac>
<mo>,</mo>
</mrow>
Wherein, the D is the minimum safe distance, and the S is between second following vehicle and the 3rd vehicle
Static security distance, the vfFor the travel speed of second following vehicle, afFor the acceleration of second following vehicle
Degree, the t0For the braking time of second following vehicle, the vlFor the travel speed of the 3rd vehicle, alFor
The acceleration of 3rd vehicle；
When the driving path of any fleet is curve, the second formation control module is according to the row of the 3rd vehicle
Sail state and control the second following vehicle traveling, make between second following vehicle and the travel direction of the 3rd vehicle
Angle be less than default angle, the difference of travel speed is less than predetermined threshold value, and makes the second following vehicle Reduced Speed Now.
4. fleet management's method according to claim 3, it is characterised in that the driving information includes：Running environment and
Transport condition, the fleet management system also include：Detecting module and communication module, each neck at least two fleet
The detecting module is both provided with team's vehicle, the communication module is both provided with each vehicle,
Before the driving information that the remote monitoring module monitors at least two fleets, fleet management's method also includes：
The detecting module detects the running environment of any fleet；
The first formation control module controls leader's car in any fleet according to the running environment of any fleet
Traveling；
The second formation control module controls second following vehicle to travel according to the transport condition of the 3rd vehicle；
In running environment from any fleet to the remote monitoring module and any fleet that first communication module reports
Leader vehicle transport condition, the first communication module be arranged on it is described leader vehicle on communication module；
Second communication module reports the transport condition of second following vehicle, second communication to the remote monitoring module
Module is the communication module being arranged in second following vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510784313.5A CN105279958B (en) | 2015-11-13 | 2015-11-13 | fleet management system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510784313.5A CN105279958B (en) | 2015-11-13 | 2015-11-13 | fleet management system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105279958A CN105279958A (en) | 2016-01-27 |
| CN105279958B true CN105279958B (en) | 2018-02-16 |
Family
ID=55148887
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510784313.5A Active CN105279958B (en) | 2015-11-13 | 2015-11-13 | fleet management system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105279958B (en) |
Families Citing this family (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105824311A (en) * | 2016-01-29 | 2016-08-03 | 乐卡汽车智能科技（北京）有限公司 | Vehicle automatic driving method and device |
| CN105957335A (en) * | 2016-04-11 | 2016-09-21 | 谢奇 | Vehicle formation driving method and system |
| US10967877B2 (en) * | 2016-04-15 | 2021-04-06 | Honda Motor Co., Ltd. | Vehicle control system, vehicle control method, and vehicle control program |
| CN105844905A (en) * | 2016-06-07 | 2016-08-10 | 北京智驾互联信息服务有限公司 | Vehicle fleet management method |
| CN106128092A (en) * | 2016-07-31 | 2016-11-16 | 北京九五智驾信息技术股份有限公司 | Fleet management's method |
| CN106054902A (en) * | 2016-08-19 | 2016-10-26 | 郑晓辉 | Mine unmanned transportation fleet control system |
| CN106530681A (en) * | 2016-12-12 | 2017-03-22 | 深圳市元征科技股份有限公司 | Activity realization method and device of self-driving travel fleet |
| US10372123B2 (en) * | 2016-12-30 | 2019-08-06 | Bendix Commercial Vehicle Systems Llc | “V” shaped and wide platoon formations |
| US10073464B2 (en) * | 2016-12-30 | 2018-09-11 | Bendix Commercial Vehicle Systems Llc | Varying the distance between vehicles in a platoon |
| CN106600952A (en) * | 2017-01-24 | 2017-04-26 | 中国科学院自动化研究所 | Method for vehicle formation forming |
| CN106873589B (en) * | 2017-02-16 | 2020-03-20 | 北理慧动（常熟）车辆科技有限公司 | Intelligent vehicle autonomous following method |
| CN108153296A (en) * | 2017-03-01 | 2018-06-12 | 中国北方车辆研究所 | A kind of vehicle-mounted complex control system of unmanned ground vehicle and control method |
| CN107025787A (en) * | 2017-04-11 | 2017-08-08 | 首都经济贸易大学 | A kind of motorcade logistic control method and system |
| KR102290055B1 (en) * | 2017-12-08 | 2021-08-13 | 현대모비스 주식회사 | Apparatus for controlling group driving and method thereof |
| DE102018001054A1 (en) * | 2017-12-08 | 2019-06-13 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | A method of moving a vehicle convoy based on a predetermined total operating strategy associated with the vehicle convoy |
| CN110044371A (en) * | 2018-01-16 | 2019-07-23 | 华为技术有限公司 | A kind of method and vehicle locating device of vehicle location |
| CN108829107B (en) * | 2018-06-27 | 2021-06-04 | 重庆长安汽车股份有限公司 | Cooperative queue driving system based on communication and team forming and quitting method based on system |
| CN109087503B (en) * | 2018-09-04 | 2021-04-20 | 惠州市德赛西威智能交通技术研究院有限公司 | Vehicle-vehicle cooperation system and method based on V2X |
| CN111627247B (en) * | 2019-02-28 | 2022-02-18 | 上海汽车集团股份有限公司 | Multi-vehicle formation control method and device |
| CN111833628B (en) * | 2019-04-18 | 2022-11-08 | 华为技术有限公司 | Control method of unmanned vehicle and related device |
| CN111679668B (en) * | 2020-05-30 | 2021-09-21 | 华南理工大学 | Following control method of networked autonomous fleet based on new time-distance strategy |
| CN113163363B (en) * | 2021-02-03 | 2022-11-18 | 上海大学 | Automatic driving-oriented vehicle-connected multi-agent wireless dynamic networking and operation method thereof |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3633707B2 (en) * | 1996-03-08 | 2005-03-30 | 日産ディーゼル工業株式会社 | Vehicle group running control device |
| CN101101702A (en) * | 2007-07-16 | 2008-01-09 | 陈拙夫 | Automatic driving system for automobile information sharing between automobile and its control method |
| US8676466B2 (en) * | 2009-04-06 | 2014-03-18 | GM Global Technology Operations LLC | Fail-safe speed profiles for cooperative autonomous vehicles |
| CN102256207A (en) * | 2011-04-07 | 2011-11-23 | 四川长虹电器股份有限公司 | Motorcade navigation method |
| DE102012208256A1 (en) * | 2012-05-16 | 2013-11-21 | Continental Teves Ag & Co. Ohg | Method and system for autonomously tracking a follower vehicle on the track of a Leader vehicle |
| EP2881926B1 (en) * | 2013-12-04 | 2021-08-04 | Volvo Car Corporation | Method and control system for controlling movement of a group of road vehicles |
-
2015
- 2015-11-13 CN CN201510784313.5A patent/CN105279958B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105279958A (en) | 2016-01-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105279958B (en) | fleet management system and method | |
| CN111240328B (en) | Vehicle driving safety monitoring method and device and unmanned vehicle | |
| US10902726B2 (en) | Rogue vehicle detection and avoidance | |
| CN112106001B (en) | Intelligent allocation system and method for driving tasks of vehicle and road | |
| US10580296B2 (en) | Advanced threat warning for autonomous vehicles | |
| Tian et al. | Performance measurement evaluation framework and co-benefit\/tradeoff analysis for connected and automated vehicles (CAV) applications: A survey | |
| US11794774B2 (en) | Real-time dynamic traffic speed control | |
| WO2020164238A1 (en) | Method, apparatus and device for driving control, and medium and system | |
| CN103465907B (en) | A kind of automotive correlation prevention device and method | |
| CN103236177B (en) | Control method of intelligent interactive system with vehicular network multi-system fusion | |
| CN107458243A (en) | A kind of scram control method driven for new-energy automobile Intelligent unattended | |
| CN106023627A (en) | Active safety early warning device and method based on cooperative vehicle infrastructure and 4G network | |
| US20210065547A1 (en) | Distributed driving systems and methods for automated vehicles | |
| CN105976640A (en) | Safety caution method, pedestrian shoes device, vehicle platform and system based on V2X communication | |
| AU2019399877A1 (en) | Platooning method, apparatus and system of autonomous driving platoon | |
| CN110647164A (en) | Assisting flying drones in selecting and approaching vehicles to achieve improved flight distances | |
| CN110606070B (en) | Intelligent driving vehicle and braking method thereof, vehicle-mounted equipment and storage medium | |
| CN110979315A (en) | Safety control method and system for vehicle guard circle of unmanned transportation system of surface mine | |
| CN111464972A (en) | Prioritized vehicle messaging | |
| US10836405B2 (en) | Continual planning and metareasoning for controlling an autonomous vehicle | |
| US20230054974A1 (en) | Intersection Risk Indicator | |
| EP4330106A1 (en) | Vehicle guidance with systemic optimization | |
| JP7579332B2 (en) | Method, device and system for transmitting waypoint information for autonomous vehicle platoons | |
| CN112394716B (en) | Control method, device and system for automatic driving vehicle queue and vehicle | |
| EP3943352A1 (en) | Driving control method, apparatus, device, medium, and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220211 Address after: 241006 Anshan South Road, Wuhu Economic and Technological Development Zone, Anhui Province Patentee after: Wuhu Sambalion auto technology Co.,Ltd. Address before: 241006 Changchun Road, Wuhu economic and Technological Development Zone, Wuhu, Anhui, 8 Patentee before: CHERY AUTOMOBILE Co.,Ltd. |
|
| TR01 | Transfer of patent right |