The invention discloses a vehicle formation method based on perception of safety redundancy, and the method comprises the following steps: a leading vehicle obtains surrounding road condition information in real time through a perception safety redundancy system, and transmits a formation control instruction containing a safety instruction and a formation instruction to a following vehicle according to the road condition information; each following vehicle obtains the road safety information of the vehicle in real time through a sensing safety redundancy system; the whole vehicle controller of each following vehicle judges whether potential safety hazards exist around the vehicle or not according to the road safety information of the vehicle; if the potential safety hazard does not exist, executing a formation control instruction; if potential safety hazards exist, emergency response measures are taken preferentially, and the formation control instruction is executed after the potential safety hazards are eliminated. According to the invention, an additional sensing safety redundancy system is arranged for the vehicle formation to obtain the surrounding road condition information of the leading vehicle and the road safety information of each following vehicle in real time, so that the safety of the vehicle formation is effectively improved, and the adaptability of the vehicle formation in a complex road scene is ensured.
本发明公开了一种基于感知安全冗余的车辆编队方法,包括如下步骤:领航车通过感知安全冗余系统实时获取周围的路况信息,并根据该路况信息向跟随车发送包含安全指示和编队指示的编队控制指令;各跟随车通过感知安全冗余系统实时获取本车的道路安全信息;各跟随车的整车控制器根据本车的道路安全信息判断本车的周围是否存在安全隐患;若不存在安全隐患,则执行编队控制指令;若存在安全隐患,则优先作出紧急应对措施,待安全隐患消除后再执行编队控制指令。本发明为车辆编队设置了额外的感知安全冗余系统来实时获取领航车的周围路况信息和各跟随车的道路安全信息,有效地提高了车辆编队的安全性,并保证了车辆编队在复杂道路场景的适用能力。
Vehicle formation method based on sensing safety redundancy
一种基于感知安全冗余的车辆编队方法
2022-07-08
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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