CN108556845B - Vehicle following system and method - Google Patents

Vehicle following system and method Download PDF

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Publication number
CN108556845B
CN108556845B CN201810315833.5A CN201810315833A CN108556845B CN 108556845 B CN108556845 B CN 108556845B CN 201810315833 A CN201810315833 A CN 201810315833A CN 108556845 B CN108556845 B CN 108556845B
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vehicle
track
control
preset
positioning
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CN108556845A (en
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张毅
丁季时雨
封硕
许惠乐
裴华鑫
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Tsinghua University
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Tsinghua University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The embodiment of the invention discloses a novel vehicle following system and a novel vehicle following method, wherein the system comprises a first vehicle and a second vehicle, the first vehicle comprises a first controller, a first positioning device and first vehicle-vehicle V2V vehicle-mounted communication equipment, and the second vehicle comprises a second controller, a second positioning device and second V2V vehicle-mounted communication equipment; the first positioning device positions a first vehicle; the second positioning device positions a second vehicle; the first controller shares the basic information of the first vehicle to the second V2V vehicle-mounted communication device through the first V2V vehicle-mounted communication device; the second controller performs automatic driving control on the second vehicle according to the positioning information of the second vehicle and the shared basic information so that the second vehicle automatically follows the first vehicle to travel. The scheme of the embodiment enables the vehicle to realize automatic driving control in the transverse direction and the longitudinal direction at the same time, and ensures low cost, low time delay and reliability of the whole following system.

Description

Vehicle following system and method
Technical Field
The embodiment of the invention relates to an automobile following technology, in particular to a vehicle following system and a vehicle following method.
Background
At present, control schemes based on high-precision maps and multi-sensor fusion are two mainstream unmanned technical schemes. However, both of these solutions require a large capital expenditure, which makes the cost of a single vehicle high, and therefore such systems can only be studied in the laboratory. In addition, the current car following technology mainly adopts automatic adaptive cruise (ACC), i.e. the driving strategy of the car, such as speed, is adjusted by using data sensed by a car sensor, such as the distance from the car in front. Such a sensor-based following technique suffers from certain drawbacks, firstly that it only ensures following in the longitudinal direction and has a time delay, and secondly that the price cost of the sensor is high.
Disclosure of Invention
In order to solve the above technical problem, embodiments of the present invention provide a vehicle following system and method, which can enable a vehicle to simultaneously implement automatic driving control in a lateral direction and a longitudinal direction, and ensure low cost, low delay, and reliability.
To achieve the purpose of the embodiment of the present invention, the embodiment of the present invention provides a vehicle-following system, which includes a first vehicle and a second vehicle, wherein the first vehicle includes a first controller, a first positioning apparatus and a first vehicle-to-vehicle V2V vehicle-mounted communication device, and the second vehicle includes a second controller, a second positioning apparatus and a second V2V vehicle-mounted communication device;
the first positioning device is used for positioning a first vehicle; the second positioning device is used for positioning a second vehicle;
a first controller for sharing basic information of the first vehicle to the second V2V vehicle-mounted communication device through the first V2V vehicle-mounted communication device;
and the second controller is used for carrying out automatic driving control on the second vehicle according to the positioning information of the second vehicle and the basic information shared by the second V2V vehicle-mounted communication equipment so as to enable the second vehicle to automatically follow the first vehicle to run.
Optionally, the basic information includes: driving track, driving speed and acceleration;
wherein, the driving track includes: marking a plurality of continuous track coordinates according to the positioning information of the first vehicle and a preset time interval; each of the trajectory coordinates includes: longitude coordinate points and latitude coordinate points.
Optionally, the automatic driving control comprises: lateral control and longitudinal control of the second vehicle.
Optionally, the second controller performs automatic driving control on the second vehicle according to the positioning information of the second vehicle and the basic information shared by the second V2V vehicle-mounted communication device, and includes:
acquiring a first track coordinate A outside a variable time window in front of a second vehicle from a running track of the first vehicle; wherein, the variable time window refers to a variable preset time length;
calculating an included angle between a connecting line between the current track coordinate B and the track coordinate A of the second vehicle and the current driving direction of the second vehicle;
performing transverse control on a second vehicle according to a preset first relational expression so as to realize steering angle control on a steering wheel of the second vehicle; and longitudinally controlling the second vehicle according to a preset adaptive cruise control algorithm so as to control the distance between the second vehicle and the first vehicle to be kept within a preset error range of a preset standard distance.
Optionally, the first relation comprises:
Δω＝cpω*(ωAB-ωB)+cdω*(ωAB-ωB)；
where Δ ω is a target steering wheel angle of the second vehicle, Δ ω>0 denotes clockwise rotation of the steering wheel, Δ ω<0 denotes counterclockwise rotation of the steering wheel, cpωIs a first scale factor, ωABIs the angle between the connecting line of two points of the track coordinate A and the track coordinate B and the preset standard direction, omegaBIs the angle between the direction of travel of the second vehicle and the standard direction, cdωIs a second proportionality coefficient; omegaAB-ωBAnd the included angle between the connecting line between the current track coordinate B and the track coordinate A of the second vehicle and the current driving direction of the second vehicle is shown.
The adaptive cruise control algorithm includes a second relationship as follows:
vo＝cpv*(vB-vA)+civ*(dAB-ds)；
wherein v isoIs the target speed of the second vehicle, cpvIs a third proportionality coefficient, vAIs the running speed, v, of the first vehicleBIs the current running speed of the second vehicle, civIs a fourth proportionality coefficient, dABIs the current distance between the first vehicle and the second vehicle, dsIs a preset standard distance between the first vehicle and the second vehicle.
Optionally, the second controller is further configured to: and in the longitudinal control, collision detection is carried out in real time, braking is carried out when the first vehicle and the second vehicle are judged to be possible to collide, and the second vehicle is controlled to run along with the first vehicle according to an adaptive cruise control algorithm when the first vehicle and the second vehicle are judged not to collide.
Optionally, the first vehicle comprises a first vehicle-road V2I in-vehicle communication device; the second vehicle includes a second V2I in-vehicle communication device;
the first controller is further configured to: acquiring the state of a signal lamp according to the first V2I vehicle-mounted communication equipment, stopping when the state of the signal lamp is a red lamp, and continuing to pass when the state of the signal lamp is a green lamp;
the second controller is further configured to: and acquiring the state of a signal lamp according to the second V2I, stopping according to the preset stopping distance between the first vehicle and the second vehicle when the state of the signal lamp is a red lamp, and continuing to pass when the state of the signal lamp is a green lamp.
A vehicle-following method, comprising:
respectively positioning a first vehicle and a second vehicle;
sharing basic information of the first vehicle to the second vehicle;
and performing automatic driving control on the second vehicle according to the positioning information of the second vehicle and the basic information shared by the second vehicle so as to enable the second vehicle to automatically follow the first vehicle to run.
Optionally, the basic information includes: driving track, driving speed and acceleration; wherein, the driving track includes: marking a plurality of continuous track coordinates according to the positioning information of the first vehicle and a preset time interval; each trajectory coordinate includes: longitude coordinate points and latitude coordinate points;
the automatic driving control includes: lateral control and longitudinal control of the second vehicle.
Optionally, performing automatic driving control on the second vehicle according to the positioning information of the second vehicle and the basic information shared by the second vehicle, includes:
acquiring a first track coordinate A outside a variable time window in front of a second vehicle from a running track of the first vehicle; wherein, the variable time window refers to a variable preset time length;
calculating an included angle between a connecting line between the current track coordinate B and the track coordinate A of the second vehicle and the current driving direction of the second vehicle;
performing transverse control on a second vehicle according to a preset first relational expression so as to realize steering angle control on a steering wheel of the second vehicle; and longitudinally controlling the second vehicle according to a preset adaptive cruise control algorithm so as to control the distance between the second vehicle and the first vehicle to be kept within a preset error range of a preset standard distance.
The embodiment of the invention comprises the following steps: the vehicle following system comprises a first vehicle and a second vehicle, wherein the first vehicle comprises a first controller, a first positioning device and a first vehicle-vehicle V2V vehicle-mounted communication device, and the second vehicle comprises a second controller, a second positioning device and a second V2V vehicle-mounted communication device; the first positioning device is used for positioning a first vehicle; the second positioning device is used for positioning a second vehicle; a first controller for sharing basic information of the first vehicle to the second V2V vehicle-mounted communication device through the first V2V vehicle-mounted communication device; and the second controller is used for carrying out automatic driving control on the second vehicle according to the positioning information of the second vehicle and the basic information shared by the second V2V vehicle-mounted communication equipment so as to enable the second vehicle to automatically follow the first vehicle to run. By the scheme of the embodiment, the vehicle can realize automatic driving control in the transverse direction and the longitudinal direction at the same time, and the low cost, the low time delay and the reliability of the whole following system are ensured.
Additional features and advantages of embodiments of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of the invention. The objectives and other advantages of the embodiments of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the examples of the application do not constitute a limitation of the embodiments of the invention.
Fig. 1 is a schematic structural diagram of a vehicle-following system according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for the second controller to perform automatic driving control on the second vehicle according to the positioning information of the second vehicle and the basic information shared by the second V2V vehicle-mounted communication device according to the embodiment of the invention;
FIG. 3 is a flow chart of a vehicle following method according to an embodiment of the present invention;
fig. 4 is a flowchart of a novel vehicle-following method applied to a second vehicle side according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.
The steps illustrated in the flow charts of the figures may be performed in a computer system such as a set of computer-executable instructions. Also, while a logical order is shown in the flow diagrams, in some cases, the steps shown or described may be performed in an order different than here.
Example one
A vehicle-following system, as shown in fig. 1, the vehicle-following system includes a first vehicle 1 and a second vehicle 2, the first vehicle 1 includes a first controller 11, a first locating device 12 and a first vehicle-vehicle V2V vehicle-mounted communication device 13, and the second vehicle 2 includes a second controller 21, a second locating device 22 and a second V2V vehicle-mounted communication device 23;
the first positioning device 12 is used for positioning the first vehicle 1; the second positioning device 22 is used for positioning the second vehicle 2;
a first controller 11 for sharing basic information of the first vehicle 1 to the second V2V vehicle-mounted communication device 23 through the first V2V vehicle-mounted communication device 13;
and the second controller 21 is configured to perform automatic driving control on the second vehicle 2 according to the positioning information of the second vehicle 2 and the basic information shared by the second V2V vehicle-mounted communication device 23, so that the second vehicle 2 automatically follows the first vehicle 1 to travel.
In the embodiment of the invention, V2X is a basic platform for realizing information interaction by vehicle-road cooperation, people, vehicles, road infrastructure and the like are interconnected on the platform for vehicle-road cooperation, so that various traffic subjects in the traffic environment can interact real-time information and have stronger sensing capability, and meanwhile, the functions of traffic environment reconstruction, high-precision positioning, real-time dynamic traffic information interaction, group cooperation safety and control and the like are realized. The V2V is a specific form of V2X, and mainly provides an interactive platform for vehicle-to-vehicle communication so as to realize accurate communication with low time delay and low packet loss rate.
In the embodiment of the invention, a control scheme based on a high-precision map and a control scheme based on multi-sensor fusion are two main unmanned technical schemes at present. However, both of these solutions require a large capital expenditure, which makes the cost of a single vehicle high, and therefore such systems can only be studied in the laboratory. The automatic driving based on the V2V communication provided by the embodiment of the invention realizes a low-cost automatic driving scheme, and realizes formation automatic following and automatic driving of vehicles without any vehicle-mounted sensor except for differential high-precision positioning (namely a first positioning device and a second positioning device which can be differential positioning devices).
In the embodiment of the present invention, the novel vehicle-following system according to the embodiment of the present invention may be applied to any unmanned driving and automatic following technologies, and the first vehicle 1 may be driven automatically or manually, or a combination of the two, and the specific driving manner of the first vehicle 1 is not limited. In addition, for any one second vehicle 2, the first vehicle 1 may be one vehicle or a plurality of vehicles, and similarly, for any one first vehicle 1, the second vehicle 2 may be one vehicle or a plurality of vehicles.
In the embodiment of the present invention, the communication between the first vehicle 1 and the second vehicle 2 may be realized by a signal transmitting and receiving device (such as an antenna, etc.), but the information communication reliability of the signal transmitting and receiving device such as a heaven is low, and the signal transmission distance is limited. The embodiment of the invention utilizes vehicle-vehicle (V2V) communication, and has the advantages of high reliability and long transmission distance.
In an embodiment of the present invention, the first Positioning device and the second Positioning device may be any type of Positioning device, and the specific implementation manner of the Positioning device is not limited, and the Positioning device may include any one or more of a Positioning device based on the BeiDou Navigation Satellite System (BDS), a Positioning device based on the Global Positioning System (GPS), a Positioning device based on the russian Global Navigation Satellite System (G L obalnai Navigation Satellite System, G L ONASS), and a Positioning device based on the Galileo Satellite Navigation System (Galileo Satellite Navigation System).
In the embodiment of the present invention, the first controller 11 and the second controller 21 may include, but are not limited to: the specific implementation of the first controller 11 and the second controller 21 is not limited by the vehicle-mounted (e.g., disposed at the bottom of the vehicle) industrial controller and the central processing unit CPU, or the remote industrial controller and the central processing unit CPU.
Optionally, the basic information may include, but is not limited to: driving track, driving speed and acceleration;
wherein, the driving track can include: a plurality of continuous track coordinates marked according to the positioning information of the first vehicle 1 and a preset time interval; wherein each of the trajectory coordinates may include: longitude coordinate points and latitude coordinate points.
In the embodiment of the invention, in order to save cost, improve transmission efficiency and reliability and reduce time delay, basic information is shared between the first vehicle 1 and the second vehicle 2 through the first V2V vehicle-mounted communication device 13 and the second V2V vehicle-mounted communication device 23. The driving track is generated by positioning information obtained after the first vehicle is positioned by the first positioning device, and the driving track generating method may include: and selecting corresponding track coordinates from the track coordinates in the positioning information obtained in real time according to a preset time length or a preset distance length, and arranging the selected track coordinates according to a sequence to form the driving track.
In the embodiment of the present invention, in order to enable the second vehicle 2 to accurately and safely follow the first vehicle 1, the running speed and the acceleration of the first vehicle 1 may be shared with the second vehicle 2, so that the second vehicle 2 adjusts its own speed in real time according to the running speed and the acceleration of the first vehicle 1, and phenomena such as loss of following and collision are prevented.
Optionally, the automatic driving control comprises: lateral control and longitudinal control of the second vehicle 2.
In the embodiment of the present invention, the current car following technology mainly adopts adaptive cruise (ACC), i.e. the driving strategy of the car (e.g. speed, etc.) is adjusted by using data sensed by a car sensor (e.g. distance from the preceding car). This sensor-based following technique has certain disadvantages, firstly that it can only guarantee a longitudinal following and has a time delay, and secondly that the price cost of the sensor is high. Therefore, the embodiment of the present invention proposes an automatic following technology based on vehicle-to-vehicle communication (V2V), and the basic information shared between the first V2V vehicle-mounted communication device 13 and the second V2V vehicle-mounted communication device 23 may include, but is not limited to: the second vehicle 2 can be caused to follow not only the longitudinal direction but also the lateral direction according to the information such as the running speed and the acceleration, that is, both the lateral direction control and the longitudinal direction control of the second vehicle 2 can be realized.
Alternatively, as shown in fig. 2, the second controller 21 performs automatic driving control on the second vehicle 2 according to the positioning information of the second vehicle 2 and the basic information shared by the second V2V in-vehicle communication device 23, including steps S101 to S103:
s101, acquiring a first track coordinate A outside a variable time window in front of a second vehicle 2 from a running track of the first vehicle 1; wherein, the variable time window refers to a variable preset time length;
in the embodiment of the present invention, when the trajectory is generated in the foregoing scheme, the estimated coordinates are selected according to a preset time length or a preset distance length and then obtained by sorting, so that when the second vehicle tracks the trajectory of the first vehicle, the second vehicle can track the trajectory coordinates on the trajectory according to the time length or the distance length, specifically, the tracking the trajectory coordinates on the trajectory according to the time length includes: a preset time duration, that is, the time window, may be preset, a first track coordinate, that is, the track coordinate a, on the trajectory of the first vehicle 1, which is other than the preset time duration, is obtained based on the current time, and the track coordinate a is used as the tracking target. The tracking of the track coordinate on the driving track according to the distance length comprises the following steps: a preset distance, which may be referred to as a distance window, may be preset, and a first track coordinate, which is the track coordinate a mentioned above and is outside the preset distance, on the driving track of the first vehicle 1 is obtained by using the current positioning point of the second vehicle as a reference, and the track coordinate a is used as a tracking target.
In the embodiment of the present invention, the preset time duration and the preset distance may be defined by themselves according to different application scenarios or requirements, and specific values thereof are not limited, that is, the preset time duration and the preset distance are both variable, so the time window and the distance window may be referred to as a variable time window and a variable distance window.
And S102, calculating an included angle between a connecting line between the current track coordinate B and the track coordinate A of the second vehicle 2 and the current running direction of the second vehicle 2.
In the embodiment of the present invention, in order to implement the control of the second vehicle 2 in the lateral direction, the current track coordinate B of the second vehicle 2 and the track coordinate a based on the track coordinate B may be obtained in real time, and the angle between the connection line between the track coordinate B and the track coordinate a and the current driving direction of the second vehicle 2 may be calculated to determine the angle of the difference between the current driving direction and the target direction, so that the steering wheel of the second vehicle 2 may be corrected and controlled according to the angle, and the second vehicle 2 may be made to run on the driving track of the first vehicle 1 as much as possible in the lateral control.
S103, performing transverse control on the second vehicle 2 according to a preset first relational expression to realize steering angle control on a steering wheel of the second vehicle; and longitudinally controlling the second vehicle 2 according to a preset adaptive cruise control algorithm to control the distance between the second vehicle 2 and the first vehicle 1 to be kept within a preset error range of a preset standard distance.
In the embodiment of the present invention, a proportional-differential PD algorithm may be used to perform the lateral direction adjustment, for example, the correction and control of the steering wheel of the second vehicle may be implemented by a preset first relation, so as to implement various driving controls such as steering and turning around.
Optionally, the first relation may include:
Δω＝cpω*(ωAB-ωB)+cdω*(ωAB-ωB)；
where Δ ω is a steering wheel target rotation angle of the second vehicle 2, Δ ω>0 denotes clockwise rotation of the steering wheel, Δ ω<0 denotes counterclockwise rotation of the steering wheel, cpωIs the first scale factor (the scale factor of the scale element), ωABIs the angle between the connecting line of two points of the track coordinate A and the track coordinate B and the preset standard direction, omegaBIs the angle between the direction of travel of the second vehicle 2 and the standard direction, cdωIs the second proportionality coefficient (proportionality coefficient of differential element); omegaAB-ωBIs an angle between a connecting line between the current track coordinate B and the track coordinate a of the second vehicle 2 and the current driving direction of the second vehicle 2.
In the embodiment of the present invention, the standard direction may be defined by itself according to different application scenarios, and the specific direction thereof is not limited, for example, including but not limited to a north direction.
In the embodiment of the invention, the second vehicle 2 can be controlled longitudinally by information such as the running speed and the acceleration. The specific control method may be implemented by any existing control technology or algorithm, such as the aforementioned automatic adaptive cruise (ACC) technology, or may also be implemented by a proportional-integral PI algorithm for longitudinal speed adjustment, for example, the algorithm of the second relational expression in the embodiment of the present invention may be used, and the specific implementation method of the longitudinal control in the embodiment of the present invention is not limited.
Alternatively, the adaptive cruise control algorithm may include a second relationship as follows:
vo＝cpv*(vB-vA)+civ*(dAB-ds)；
wherein v isoIs the target speed of the second vehicle 2, cpvIs the third scale factor (scale factor of the scale element), vAIs the running speed, v, of the first vehicle 1BIs the current running speed of the second vehicle 2, civIs the fourth proportionality coefficient (proportionality coefficient of integral element), dABIs the current distance between the first vehicle 1 and the second vehicle 2, dsIs a preset standard distance between the first vehicle 1 and the second vehicle 2.
In the embodiment of the present invention, the standard distance may be defined by itself according to different application scenarios, and the specific value is not limited.
In the embodiment of the present invention, the preset error range may be defined by itself according to different application scenarios, and the specific numerical value is not limited.
Optionally, the second controller 21 is further configured to: in the longitudinal control, collision detection is performed in real time, braking is performed when it is determined that the first vehicle 1 and the second vehicle 2 may collide, and the second vehicle 2 is controlled to run following the first vehicle 1 according to an adaptive cruise control algorithm when it is determined that the first vehicle 1 and the second vehicle 2 may not collide.
In the embodiment of the present invention, the second vehicle 2 may use the adaptive cruise control algorithm to maintain the distance to the preceding vehicle at a preset value in the longitudinal control, and perform collision detection (which may include performing state prediction according to the current state of the second vehicle and determining whether a collision will occur according to the predicted state), if a collision is possible, braking may be performed according to a preset safe distance, otherwise adaptive cruise may be performed to follow the first vehicle.
Optionally, the first vehicle may further include a first vehicle-road V2I vehicle-mounted communication device 14; the second vehicle 2 may also include a second V2I in-vehicle communication device 24;
the first controller 11 is further configured to: the vehicle-mounted communication equipment 14 acquires the state of the signal lamp according to the first V2I, stops the vehicle when the state of the signal lamp is red, and continues to pass when the state of the signal lamp is green;
the second controller 21 may also be configured to: the in-vehicle communication device 24 acquires the state of the signal light according to V2I, and when the state of the signal light is red, performs parking according to the preset parking distance between the first vehicle 1 and the second vehicle 2, and continues the passage when the state of the signal light is green. Example two
A vehicle-following method, it should be noted that any of the above embodiments of the system may be applied to this embodiment of the method, and details are not repeated here, and as shown in fig. 3, the method may include S201 to S203:
s201, respectively positioning a first vehicle and a second vehicle;
s202, sharing basic information of the first vehicle to the second vehicle;
and S203, performing automatic driving control on the second vehicle according to the positioning information of the second vehicle and the basic information shared by the second vehicle so as to enable the second vehicle to automatically follow the first vehicle to run.
Optionally, the basic information includes: driving track, driving speed and acceleration; wherein, the driving track includes: marking a plurality of continuous track coordinates according to the positioning information of the first vehicle and a preset time interval; each trajectory coordinate includes: longitude coordinate points and latitude coordinate points;
the automatic driving control includes: lateral control and longitudinal control of the second vehicle.
Optionally, performing automatic driving control on the second vehicle according to the positioning information of the second vehicle and the basic information shared by the second vehicle, includes:
acquiring a first track coordinate A outside a variable time window in front of a second vehicle from a running track of the first vehicle; wherein, the variable time window refers to a variable preset time length;
calculating an included angle between a connecting line between the current track coordinate B and the track coordinate A of the second vehicle and the current driving direction of the second vehicle;
performing transverse control on a second vehicle according to a preset first relational expression so as to realize steering angle control on a steering wheel of the second vehicle; and longitudinally controlling the second vehicle according to a preset adaptive cruise control algorithm so as to control the distance between the second vehicle and the first vehicle to be kept within a preset error range of a preset standard distance.
Optionally, the first relation comprises:
Δω＝cpω*(ωAB-ωB)+cdω*(ωAB-ωB)；
where Δ ω is a target steering wheel angle of the second vehicle, Δ ω>0 denotes clockwise rotation of the steering wheel, Δ ω<0 denotes counterclockwise rotation of the steering wheel, cpωIs a first scale factor, ωABIs the angle between the connecting line of two points of the track coordinate A and the track coordinate B and the preset standard direction, omegaBIs the angle between the direction of travel of the second vehicle and the standard direction, cdωIs a second proportionality coefficient; omegaAB-ωBAnd the included angle between the connecting line between the current track coordinate B and the track coordinate A of the second vehicle and the current driving direction of the second vehicle is shown.
The adaptive cruise control algorithm includes a second relationship as follows:
vo＝cpv*(vB-vA)+civ*(dAB-ds)；
wherein v isoIs the target speed of the second vehicle, cpvIs a third proportionality coefficient, vAIs the running speed, v, of the first vehicleBIs the current running speed of the second vehicle, civIs a fourth proportionality coefficient, dABIs the current distance between the first vehicle and the second vehicle, dsIs a preset standard distance between the first vehicle and the second vehicle.
Optionally, the method further comprises: and in the longitudinal control, collision detection is carried out in real time, braking is carried out when the first vehicle and the second vehicle are judged to be possible to collide, and the second vehicle is controlled to run along with the first vehicle according to an adaptive cruise control algorithm when the first vehicle and the second vehicle are judged not to collide.
Optionally, the method further comprises: and acquiring the state of the signal lamp, parking according to the preset parking distance between the first vehicle and the second vehicle when the state of the signal lamp is red, and continuously passing when the state of the signal lamp is green.
EXAMPLE III
A vehicle-following method is applicable to a second vehicle side, and it should be noted that any embodiment in the above system embodiments may be applicable to the method embodiment, and details are not repeated here, and as shown in fig. 4, the method may include S301 to S302:
s301, positioning a second vehicle;
s302, according to the positioning information of the second vehicle and the basic information shared by the second vehicle, performing automatic driving control on the second vehicle so as to enable the second vehicle to automatically follow the first vehicle to run; wherein the basic information is information of the first vehicle.
Optionally, the basic information includes: driving track, driving speed and acceleration; wherein, the driving track includes: marking a plurality of continuous track coordinates according to the positioning information of the first vehicle and a preset time interval; each trajectory coordinate includes: longitude coordinate points and latitude coordinate points;
the automatic driving control includes: lateral control and longitudinal control of the second vehicle.
Optionally, performing automatic driving control on the second vehicle according to the positioning information of the second vehicle and the basic information shared by the second vehicle, includes:
acquiring a first track coordinate A outside a variable time window in front of a second vehicle from a running track of the first vehicle; wherein, the variable time window refers to a variable preset time length;
calculating an included angle between a connecting line between the current track coordinate B and the track coordinate A of the second vehicle and the current driving direction of the second vehicle;
performing transverse control on a second vehicle according to a preset first relational expression so as to realize steering angle control on a steering wheel of the second vehicle; and longitudinally controlling the second vehicle according to a preset adaptive cruise control algorithm so as to control the distance between the second vehicle and the first vehicle to be kept within a preset error range of a preset standard distance.
Optionally, the first relation comprises:
Δω＝cpω*(ωAB-ωB)+cdω*(ωAB-ωB)；
where Δ ω is a target steering wheel angle of the second vehicle, Δ ω>0 denotes clockwise rotation of the steering wheel, Δ ω<0 denotes counterclockwise rotation of the steering wheel, cpωIs a first scale factor, ωABIs the angle between the connecting line of two points of the track coordinate A and the track coordinate B and the preset standard direction, omegaBIs the angle between the direction of travel of the second vehicle and the standard direction, cdωIs a second proportionality coefficient; omegaAB-ωBAnd the included angle between the connecting line between the current track coordinate B and the track coordinate A of the second vehicle and the current driving direction of the second vehicle is shown.
The adaptive cruise control algorithm includes a second relationship as follows:
vo＝cpv*(vB-vA)+civ*(dAB-ds)；
wherein v isoIs the target speed of the second vehicle, cpvIs a third proportionality coefficient, vAIs the running speed, v, of the first vehicleBIs the current running speed of the second vehicle, civIs a fourth proportionality coefficient, dABIs the current distance between the first vehicle and the second vehicle, dsIs a preset standard distance between the first vehicle and the second vehicle.
Optionally, the method further comprises: and in the longitudinal control, collision detection is carried out in real time, braking is carried out when the first vehicle and the second vehicle are judged to be possible to collide, and the second vehicle is controlled to run along with the first vehicle according to an adaptive cruise control algorithm when the first vehicle and the second vehicle are judged not to collide.
Optionally, the method further comprises: and acquiring the state of the signal lamp, parking according to the preset parking distance between the first vehicle and the second vehicle when the state of the signal lamp is red, and continuously passing when the state of the signal lamp is green.
Example four
A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the novel vehicle-following method of embodiment three.
The embodiment of the invention comprises the following steps: the vehicle following system comprises a first vehicle and a second vehicle, wherein the first vehicle comprises a first controller, a first positioning device and a first vehicle-vehicle V2V vehicle-mounted communication device, and the second vehicle comprises a second controller, a second positioning device and a second V2V vehicle-mounted communication device; the first positioning device is used for positioning a first vehicle; the second positioning device is used for positioning a second vehicle; a first controller for sharing basic information of the first vehicle to the second V2V vehicle-mounted communication device through the first V2V vehicle-mounted communication device; and the second controller is used for carrying out automatic driving control on the second vehicle according to the positioning information of the second vehicle and the basic information shared by the second V2V vehicle-mounted communication equipment so as to enable the first vehicle to automatically follow the first vehicle to run. By the scheme of the embodiment, the vehicle can realize automatic driving control in the transverse direction and the longitudinal direction at the same time, and the low cost, the low time delay and the reliability of the whole following system are ensured.
Although the embodiments of the present invention have been described above, the above descriptions are only for the convenience of understanding the present invention, and are not intended to limit the embodiments of the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the embodiments of the invention as defined by the appended claims.

Claims (5)

1. A vehicle-following system comprising a first vehicle and a second vehicle, characterized in that the first vehicle comprises a first controller, a first positioning device and a first vehicle-to-vehicle V2V in-vehicle communication device, the second vehicle comprises a second controller, a second positioning device and a second V2V in-vehicle communication device;
the first positioning device is used for positioning the first vehicle; the second positioning device is used for positioning the second vehicle;
the first controller is used for sharing basic information of the first vehicle to the second V2V vehicle-mounted communication device through a first V2V vehicle-mounted communication device;
the second controller is used for carrying out automatic driving control on the second vehicle according to the positioning information of the second vehicle and the basic information shared by the second V2V vehicle-mounted communication equipment, so that the second vehicle automatically follows the first vehicle to run;
the basic information includes: driving track, driving speed and acceleration;
wherein the driving track comprises: marking a plurality of continuous track coordinates according to the positioning information of the first vehicle and a preset time interval; each of the trajectory coordinates includes: longitude coordinate points and latitude coordinate points;
the automatic driving control includes: lateral control and longitudinal control of the second vehicle;
the second controller performs automatic driving control on the second vehicle according to the positioning information of the second vehicle and the basic information shared by the second V2V vehicle-mounted communication equipment, and the automatic driving control method comprises the following steps:
acquiring a first track coordinate A outside a variable time window in front of the second vehicle from the running track of the first vehicle; wherein, the variable time window refers to a variable preset time length;
calculating an included angle between a connecting line between the current track coordinate B and the track coordinate A of the second vehicle and the current driving direction of the second vehicle;
performing transverse control on the second vehicle according to a preset first relational expression so as to realize steering angle control on a steering wheel of the second vehicle; and longitudinally controlling the second vehicle according to a preset adaptive cruise control algorithm so as to control the distance between the second vehicle and the first vehicle to be kept within a preset error range of a preset standard distance.
2. A vehicle-following system according to claim 1, wherein the first relation comprises:
Δω＝cpω*(ωAB-ωB)+cdω*(ωAB-ωB)；
wherein Δ ω is a steering wheel target rotation angle of the second vehicle, Δ ω>0 denotes clockwise rotation of the steering wheel, Δ ω<0 denotes counterclockwise rotation of the steering wheel, cpωIs a first scale factor, ωABIs the angle between the connecting line of two points of the track coordinate A and the track coordinate B and the preset standard direction, omegaBIs the angle between the direction of travel of the second vehicle and the standard direction, cdωIs a second proportionality coefficient; omegaAB-ωBThe included angle between a connecting line between the current track coordinate B and the track coordinate A of the second vehicle and the current driving direction of the second vehicle is set;
the adaptive cruise control algorithm comprises a second relationship:
vo＝cpv*(vB-vA)+civ*(dAB-ds)；
wherein v isoIs a target speed of the second vehicle, cpvIs a third proportionality coefficient, vAIs the running speed, v, of the first vehicleBIs the current running speed of the second vehicle, civIs a fourth proportionality coefficient, dABIs the current distance between the first vehicle and the second vehicle, dsIs a preset standard distance between the first vehicle and the second vehicle.
3. The vehicle-following system of claim 1, wherein the second controller is further configured to: and in the longitudinal control, collision detection is carried out in real time, braking is carried out when the first vehicle and the second vehicle are judged to be possible to collide, and when the first vehicle and the second vehicle are judged not to collide, the second vehicle is controlled to run along with the first vehicle according to the adaptive cruise control algorithm.
4. A vehicle-following system according to claim 1, wherein the first vehicle comprises a first vehicle-to-road V2I vehicle communication device; the second vehicle comprises a second V2I onboard communication device;
the first controller is further configured to: acquiring the state of a signal lamp according to first V2I vehicle-mounted communication equipment, stopping when the state of the signal lamp is a red lamp, and continuing to pass when the state of the signal lamp is a green lamp;
the second controller is further configured to: and acquiring the state of the signal lamp according to the second V2I vehicle-mounted communication equipment, parking according to the preset parking distance between the first vehicle and the second vehicle when the state of the signal lamp is a red lamp, and continuing to pass when the state of the signal lamp is a green lamp.
5. A vehicle-following method, comprising:
respectively positioning a first vehicle and a second vehicle;
sharing basic information of the first vehicle to the second vehicle;
according to the positioning information of the second vehicle and the basic information shared by the second vehicle, performing automatic driving control on the second vehicle so as to enable the second vehicle to automatically follow the first vehicle to run;
the basic information includes: driving track, driving speed and acceleration; wherein the driving track comprises: marking a plurality of continuous track coordinates according to the positioning information of the first vehicle and a preset time interval; each of the trajectory coordinates includes: longitude coordinate points and latitude coordinate points;
the automatic driving control includes: lateral control and longitudinal control of the second vehicle;
the automatic driving control of the second vehicle according to the positioning information of the second vehicle and the basic information shared by the second vehicle includes:
acquiring a first track coordinate A outside a variable time window in front of the second vehicle from the running track of the first vehicle; wherein, the variable time window refers to a variable preset time length;
calculating an included angle between a connecting line between the current track coordinate B and the track coordinate A of the second vehicle and the current driving direction of the second vehicle;
performing transverse control on the second vehicle according to a preset first relational expression so as to realize steering angle control on a steering wheel of the second vehicle; and longitudinally controlling the second vehicle according to a preset adaptive cruise control algorithm so as to control the distance between the second vehicle and the first vehicle to be kept within a preset error range of a preset standard distance.
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