CN-122024464-A - Truck formation cooperative driving control method and electronic equipment

CN122024464ACN 122024464 ACN122024464 ACN 122024464ACN-122024464-A

Abstract

The application provides a truck formation cooperative driving control method and electronic equipment, which are used for determining the optimal windage distance between vehicles at present, further obtaining the speed and acceleration of the vehicles at present, the speed and acceleration of the vehicles ahead in truck formation and the actual distance between the vehicles ahead, so that the current vehicles are cooperatively driven according to the optimal windage distance, the actual distance between the vehicles, the speed and acceleration, the formation following control based on the speed, the acceleration and the distance between the vehicles is realized, a safe and reliable cooperative control strategy is provided for the formation vehicles, the rear-end collision and linkage collision risks caused by the asynchronous acceleration and deceleration of the vehicles, the uncontrolled distance between the vehicles and the like are greatly reduced, the overall safety of the formation is improved, the optimization characteristic of the formation driving windage resistance is fully exerted, the wind resistance energy consumption of the vehicles is greatly reduced, and the fuel cost and the energy consumption are effectively saved.

Inventors

ZHANG WENHU
WANG HAO
BAO NAN
TAN YI

Assignees

重庆赛力斯凤凰智创科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260316

Claims (10)

1. The truck formation cooperative driving control method is characterized by comprising the following steps of: Determining the wind resistance optimal distance between the current vehicles; Acquiring the speed and acceleration of the current vehicle, the speed and acceleration of a front vehicle in truck formation and the actual vehicle distance between the current vehicle and the front vehicle; And carrying out cooperative running control on the current vehicle according to the wind resistance optimal vehicle distance, the actual vehicle distance, the speed and acceleration of the current vehicle and the speed and acceleration of the front vehicle.
2. The truck formation cooperative travel control method according to claim 1, wherein cooperative travel control of the current vehicle is performed based on the windage optimum inter-vehicle distance, the actual inter-vehicle distance, a speed and an acceleration of the current vehicle, and a speed and an acceleration of the preceding vehicle, comprising: determining a formation synergy index between the current vehicle and the truck formation according to the wind resistance optimal vehicle distance, the actual vehicle distance, the speed and the acceleration of the current vehicle and the speed and the acceleration of the front vehicle; And carrying out cooperative driving control on the current vehicle according to the formation cooperative index.
3. The truck formation cooperative travel control method according to claim 2, wherein determining a formation cooperative index between the current vehicle and the truck formation based on the wind resistance optimal inter-vehicle distance, the actual inter-vehicle distance, a speed and an acceleration of the current vehicle, and a speed and an acceleration of the preceding vehicle, includes: Determining the safety inter-vehicle distance of the current vehicle, and determining an inter-vehicle distance synergy index of the current vehicle according to the wind resistance optimal inter-vehicle distance, the actual inter-vehicle distance and the safety inter-vehicle distance; determining a speed synergy index of the current vehicle according to the speed of the current vehicle and the speed of the front vehicle; Determining an acceleration synergy index of the current vehicle according to the acceleration of the current vehicle and the acceleration of the front vehicle; And determining a formation synergy index between the current vehicle and the truck formation according to the inter-vehicle distance synergy index, the vehicle speed synergy index and the acceleration synergy index.
4. The truck formation cooperative travel control method according to claim 3, wherein determining a formation cooperative index between the current vehicle and the truck formation based on the inter-vehicle distance cooperative index, the vehicle speed cooperative index, and the acceleration cooperative index includes: determining the current road condition type of the truck formation, and determining the vehicle distance weight, the vehicle speed weight and the acceleration weight according to the current road condition type; And respectively weighting the inter-vehicle distance synergy index, the vehicle speed synergy index and the acceleration synergy index according to the inter-vehicle distance weight, the vehicle speed weight and the acceleration weight to obtain the formation synergy index of the current vehicle.
5. The truck formation cooperative travel control method according to claim 2, wherein cooperative travel control of the current vehicle according to the formation cooperative index includes: Determining the cooperative level of the current vehicle according to the formation cooperative index; And carrying out cooperative driving control on the current vehicle according to the cooperative level.
6. The truck formation cooperative travel control method according to claim 5, wherein cooperative travel control of the current vehicle is performed according to the cooperative rank, including at least one of: Responding to the cooperative level being a high cooperative level, and adjusting the speed of the current vehicle by taking the actual inter-vehicle distance of the current vehicle as a target that the wind resistance optimal inter-vehicle distance is equal to the actual inter-vehicle distance; responding to the cooperative level as a medium cooperative level, determining a target following speed of the current vehicle according to a formation cooperative index of the current vehicle, and controlling the current vehicle according to the target following speed; Determining a target acceleration according to the acceleration of the front vehicle in response to the cooperative level being a low cooperative level, and controlling the current vehicle according to the target acceleration; And responding to the coordination level as a dangerous coordination level, determining a target inter-vehicle distance according to the safety inter-vehicle distance of the current vehicle, and controlling the current vehicle based on the target inter-vehicle distance and a preset limiting acceleration.
7. The truck formation cooperative travel control method according to claim 6, further comprising, after controlling the current vehicle based on the target inter-vehicle distance and a preset limiting acceleration: Returning to re-acquire the speed and acceleration of the current vehicle, the speed and acceleration of a front vehicle in a truck formation, and the actual vehicle distance between the current vehicle and the front vehicle so as to re-determine the synergy level between the current vehicle and the truck formation; And if the new cooperative level is still the dangerous cooperative level within the preset time, controlling the current vehicle to leave the truck formation, and planning a corresponding driving route for the current vehicle.
8. The truck formation cooperative travel control method according to claim 6, further comprising, after controlling the current vehicle in accordance with the target following speed: Determining a target throttle opening of an evaporator in the current vehicle according to the formation synergy index of the current vehicle; And controlling the evaporator air door of the current vehicle according to the target air door opening degree.
9. The truck formation cooperative driving control method according to claim 1, wherein determining the windage optimum inter-vehicle distance of the current vehicle includes: Acquiring the mass, head windward area and length of the current vehicle body, and acquiring a preset windage coefficient and preset air density; Substituting the vehicle body mass, the head-on area, the vehicle body length, the preset wind resistance coefficient and the preset air density into a pre-constructed truck wind resistance model to obtain the wind resistance optimal vehicle distance of the current vehicle.
10. An electronic device, the electronic device comprising: a processor and a memory; The processor is configured to execute the steps of the truck formation cooperative travel control method according to any one of claims 1 to 9 by calling a program or instructions stored in the memory.

Description

Truck formation cooperative driving control method and electronic equipment Technical Field The application relates to the technical field of formation coordination, in particular to a truck formation coordination driving control method and electronic equipment. Background In commercial vehicle formation driving scenes, particularly in truck centralized transportation scenes such as logistics trunk lines, mining area short-cut barges and the like, the manual following mode easily causes that the inter-vehicle distance of vehicles in the formation is difficult to control, the acceleration and deceleration synchronism is poor, the inter-vehicle distance is negligent and negligent due to sudden braking, and the rear-end collision risk is high. At present, truck formation cooperative control is mainly realized through a vehicle distance radar and a simple following algorithm. For example, based on the speed of the front vehicle and a fixed time interval, the safety distance between vehicles is calculated, so that the rear vehicle passively follows, and partial high-end vehicles try to access V2X (Vehicle to Everything, vehicle-to-outside information exchange) data, thereby realizing the function of 'front vehicle braking and rear vehicle early warning'. However, in the existing method, single vehicle distance monitoring cannot reflect the cooperative state of multi-vehicle formation, active adaptation and cooperation are difficult to realize when complex working conditions are met, accident risks cannot be thoroughly avoided, and energy saving advantages brought by formation cannot be considered in the existing method. Disclosure of Invention In view of the above-mentioned drawbacks or shortcomings in the prior art, the present application aims to provide a truck formation cooperative driving control method and an electronic device, so as to solve the problem of poor suitability caused by cooperative operation based on single distance monitoring in the related art, ensure the safety of multi-truck formation driving under complex working conditions, and also effectively save the fuel cost and energy consumption of the vehicles. The embodiment of the application provides a truck formation cooperative driving control method, which comprises the following steps: Determining the wind resistance optimal distance between the current vehicles; Acquiring the speed and acceleration of the current vehicle, the speed and acceleration of a front vehicle in truck formation and the actual vehicle distance between the current vehicle and the front vehicle; And carrying out cooperative running control on the current vehicle according to the wind resistance optimal vehicle distance, the actual vehicle distance, the speed and acceleration of the current vehicle and the speed and acceleration of the front vehicle. Optionally, the cooperative driving control is performed on the current vehicle according to the wind resistance optimal inter-vehicle distance, the actual inter-vehicle distance, the speed and acceleration of the current vehicle, and the speed and acceleration of the preceding vehicle, including: determining a formation synergy index between the current vehicle and the truck formation according to the wind resistance optimal vehicle distance, the actual vehicle distance, the speed and the acceleration of the current vehicle and the speed and the acceleration of the front vehicle; And carrying out cooperative driving control on the current vehicle according to the formation cooperative index. Optionally, determining the formation synergy index between the current vehicle and the truck formation according to the wind resistance optimal inter-vehicle distance, the actual inter-vehicle distance, the speed and acceleration of the current vehicle, and the speed and acceleration of the preceding vehicle includes: Determining the safety inter-vehicle distance of the current vehicle, and determining an inter-vehicle distance synergy index of the current vehicle according to the wind resistance optimal inter-vehicle distance, the actual inter-vehicle distance and the safety inter-vehicle distance; determining a speed synergy index of the current vehicle according to the speed of the current vehicle and the speed of the front vehicle; Determining an acceleration synergy index of the current vehicle according to the acceleration of the current vehicle and the acceleration of the front vehicle; And determining a formation synergy index between the current vehicle and the truck formation according to the inter-vehicle distance synergy index, the vehicle speed synergy index and the acceleration synergy index. Optionally, determining the formation synergy index between the current vehicle and the truck formation according to the inter-vehicle distance synergy index, the vehicle speed synergy index and the acceleration synergy index includes: determining the current road condition type of the truck formation, and determining the vehicle