CN111413982A - Method and terminal for planning tracking routes of multiple vehicles - Google Patents
Method and terminal for planning tracking routes of multiple vehicles Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0293—Convoy travelling
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0295—Fleet control by at least one leading vehicle of the fleet
Abstract
The invention discloses a method and a terminal for planning tracking routes of a plurality of vehicles, wherein the tracking route of a first vehicle in the plurality of vehicles and the initial positions of other vehicles in the plurality of vehicles are set; determining respective tracking routes of the other vehicles according to the tracking routes and the starting position; controlling the plurality of vehicles to run in parallel according to the determined tracking route of each vehicle; in the process of controlling the plurality of vehicles to run in parallel, the speed and the running direction of other vehicles are adjusted in real time according to the position and the running vector of the first vehicle so as to ensure the parallel running among the plurality of vehicles; the autonomous parallel running among a plurality of vehicles is realized without additional human intervention.
Description
Technical Field
The invention relates to the field of unmanned driving, in particular to a method and a terminal for planning tracking routes of multiple vehicles.
Background
Unmanned vehicles are the main trend in the automotive field for future development. The unmanned automobile can sense information such as road environment, vehicle position, traffic signals, obstacles and the like through the vehicle-mounted sensing system according to a route preset by the control platform, track driving is carried out on the basis, longitudinal and transverse coupling control of the vehicle is achieved through certain control logic, the vehicle can safely reach a preset destination according to the route, and manual extra intervention is not needed in the period.
In the prior art, a scene of one unmanned vehicle is generally aimed at, and a scene of a plurality of unmanned vehicles is also generally aimed at that one vehicle runs in front, and a plurality of other vehicles track behind the vehicle, so that synchronous parallel running of the plurality of unmanned vehicles cannot be realized.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: a method and a terminal for planning tracking routes of a plurality of vehicles are provided, and autonomous parallel running of the plurality of vehicles is achieved.
In order to solve the technical problems, the invention adopts a technical scheme that:
A method of planning a tracking path for a plurality of vehicles, comprising the steps of:
S1, setting a tracking route of a first vehicle in the plurality of vehicles and starting positions of other vehicles in the plurality of vehicles;
S2, determining the respective tracking routes of the other vehicles according to the tracking routes and the starting positions;
S3, controlling the plurality of vehicles to run in parallel according to the determined tracking route of each vehicle;
And S4, adjusting the speed and the driving direction of other vehicles in real time according to the position and the driving vector of the first vehicle in the process of controlling the plurality of vehicles to run in parallel so as to ensure the parallel running among the plurality of vehicles.
In order to solve the technical problem, the invention adopts another technical scheme as follows:
A terminal for planning a tracked route for a plurality of vehicles, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor when executing the computer program implementing the steps of:
S1, setting a tracking route of a first vehicle in the plurality of vehicles and starting positions of other vehicles in the plurality of vehicles;
S2, determining the respective tracking routes of the other vehicles according to the tracking routes and the starting positions;
S3, controlling the plurality of vehicles to run in parallel according to the determined tracking route of each vehicle;
And S4, adjusting the speed and the driving direction of other vehicles in real time according to the position and the driving vector of the first vehicle in the process of controlling the plurality of vehicles to run in parallel so as to ensure the parallel running among the plurality of vehicles.
The invention has the beneficial effects that: according to the tracking planning of the multiple vehicles, the tracking routes of other vehicles are determined according to the preset tracking route of one vehicle and the initial positions of the other vehicles, the multiple vehicles are controlled to run in parallel according to the determined tracking route of each vehicle, in addition, the parallel running among the multiple vehicles can be ensured according to the real-time position and the running vector of one vehicle in the parallel running process, and the autonomous parallel running among the multiple vehicles is realized without manual additional intervention.
Drawings
FIG. 1 is a flowchart illustrating steps of a method for planning tracking routes for a plurality of vehicles, in accordance with an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a terminal for planning tracking routes of a plurality of vehicles according to an embodiment of the present invention;
FIG. 3 is a schematic illustration of a parallel driving of multiple vehicles in accordance with an embodiment of the present invention;
FIG. 4 is a schematic diagram of two vehicles generating a normal vector offset according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of two vehicles generating parallel direction offsets in accordance with an embodiment of the present invention;
Description of reference numerals:
1. A terminal for planning a tracking route for a plurality of vehicles; 2. a memory; 3. a processor.
Detailed Description
In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
Referring to fig. 1, a method for planning a tracking route of a plurality of vehicles includes the steps of:
S1, setting a tracking route of a first vehicle in the plurality of vehicles and starting positions of other vehicles in the plurality of vehicles;
S2, determining the respective tracking routes of the other vehicles according to the tracking routes and the starting positions;
S3, controlling the plurality of vehicles to run in parallel according to the determined tracking route of each vehicle;
And S4, adjusting the speed and the driving direction of other vehicles in real time according to the position and the driving vector of the first vehicle in the process of controlling the plurality of vehicles to run in parallel so as to ensure the parallel running among the plurality of vehicles.
From the above description, the beneficial effects of the present invention are: according to the tracking planning of the multiple vehicles, the tracking routes of other vehicles are determined according to the preset tracking route of one vehicle and the initial positions of the other vehicles, the multiple vehicles are controlled to run in parallel according to the determined tracking route of each vehicle, in addition, the parallel running among the multiple vehicles can be ensured according to the real-time position and the running vector of one vehicle in the parallel running process, and the autonomous parallel running among the multiple vehicles is realized without manual additional intervention.
Further, the setting the tracking route of one of the vehicles in S1 includes:
Generating a tracking route of the first vehicle by receiving a point determined by a mouse on a computer screen;
Calculating the actual distance between any two adjacent points determined by the mouse through map scaling, judging whether the actual distance is greater than a preset distance, and if so, adding a point taking number between the two adjacent points according to the preset maximum distance between the adjacent tracking points;
After receiving a point determined by the mouse, before determining the next point by the mouse, when the position where the mouse stays is sensed, calculating the number of points to be added between the point determined by the mouse and the position where the mouse stays.
It can be known from the above description that the tracking route is formed by receiving the points determined by the mouse, which is convenient and fast, and can automatically detect whether the points determined by the mouse are reasonable, if not reasonable, the number of points taken between two adjacent points can be increased to ensure the rationality of the generated tracking route, and when the number of points to be increased is determined, the number of points taken can be immediately increased when the mouse stops at each position, so that the number of points taken to be increased can be immediately obtained when the mouse is pressed down, and the generation efficiency and reliability of the tracking route are improved.
Further, the S2 includes:
Determining the coordinate difference between every two tracking points on the tracking route according to the tracking route;
Obtaining coordinate values of a non-initial position corresponding to each vehicle in the other vehicles in sequence according to the coordinate difference between the initial position and each two tracing points;
And for each vehicle in the other vehicles, determining a corresponding tracking route according to the initial position of the vehicle and the coordinate values of the non-initial positions obtained in sequence.
From the above description, it can be known that the tracking route of each vehicle can be simply and quickly obtained according to the coordinate difference between every two tracking points on the tracking route and the initial position of each vehicle in other vehicles, and the parallelism and consistency of the tracking routes corresponding to the vehicles are also ensured, and the synchronism of the vehicles during tracking is ensured.
Further, the S4 includes:
Acquiring the position and the running vector of the first vehicle in real time, recording the position and the running vector as a first position and a first running vector, and acquiring the position and the running vector of each vehicle in other vehicles, and recording the position and the running vector as a second position and a second running vector;
Determining a first normal vector corresponding to the first running vector according to the first running vector, and determining a second normal vector corresponding to the second running vector according to the second running vector;
For other vehicles with offset between the second normal vector and the first normal vector, adjusting the corresponding second normal vector through a PID algorithm to enable the offset between the second normal vector and the first normal vector to be within a preset error;
And for other vehicles with deviation between the second position and the first position, adjusting the acceleration of the other vehicles according to the distance difference between the first position and the second position and the predicted position of the first vehicle, which is reached in the future preset time T.
According to the description, in the process of tracking a plurality of vehicles, the position and the running vector of the first vehicle are taken as the standard, and other vehicles which deviate from the first vehicle are adjusted in time, so that the asynchronization among the vehicles caused by conditions such as actual site factors or unstable actual running of the vehicles in the actual tracking process is avoided, and the synchronism among the vehicles is ensured.
Further, the adjusting the corresponding second normal vector by the PID algorithm includes:
The adjustment amount Y of the second normal vector is:
Y＝Kp*e(t)+Ki*∫e(t)*dt+Kd*d/dt*e(t)；
Where Kp denotes a proportional constant of PID control, Ki denotes an integral constant of PID control, Kd denotes a differential constant of PID control, and e (t) denotes an offset amount between the second normal vector and the first normal vector.
From the above description, it can be known that the deviation between the normal vectors of the other vehicles and the first vehicle is adjusted by the PID algorithm, and the deviation can be effectively corrected, so that the normal vectors of the other vehicles and the first vehicle are timely synchronized and quickly reach a stable state.
Referring to fig. 2, a terminal for planning a tracking route of a plurality of vehicles includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program:
S1, setting a tracking route of a first vehicle in the plurality of vehicles and starting positions of other vehicles in the plurality of vehicles;
S2, determining the respective tracking routes of the other vehicles according to the tracking routes and the starting positions;
S3, controlling the plurality of vehicles to run in parallel according to the determined tracking route of each vehicle;
And S4, adjusting the speed and the driving direction of other vehicles in real time according to the position and the driving vector of the first vehicle in the process of controlling the plurality of vehicles to run in parallel so as to ensure the parallel running among the plurality of vehicles.
From the above description, the beneficial effects of the present invention are: according to the tracking planning of the multiple vehicles, the tracking routes of other vehicles are determined according to the preset tracking route of one vehicle and the initial positions of the other vehicles, the multiple vehicles are controlled to run in parallel according to the determined tracking route of each vehicle, in addition, the parallel running among the multiple vehicles can be ensured according to the real-time position and the running vector of one vehicle in the parallel running process, and the autonomous parallel running among the multiple vehicles is realized without manual additional intervention.
Further, the setting the tracking route of one of the vehicles in S1 includes:
Generating a tracking route of the first vehicle by receiving a point determined by a mouse on a computer screen;
Calculating the actual distance between any two adjacent points determined by the mouse through map scaling, judging whether the actual distance is greater than a preset distance, and if so, adding a point taking number between the two adjacent points according to the preset maximum distance between the adjacent tracking points;
After receiving a point determined by the mouse, before determining the next point by the mouse, when the position where the mouse stays is sensed, calculating the number of points to be added between the point determined by the mouse and the position where the mouse stays.
It can be known from the above description that the tracking route is formed by receiving the points determined by the mouse, which is convenient and fast, and can automatically detect whether the points determined by the mouse are reasonable, if not reasonable, the number of points taken between two adjacent points can be increased to ensure the rationality of the generated tracking route, and when the number of points to be increased is determined, the number of points taken can be immediately increased when the mouse stops at each position, so that the number of points taken to be increased can be immediately obtained when the mouse is pressed down, and the generation efficiency and reliability of the tracking route are improved.
Further, the S2 includes:
Determining the coordinate difference between every two tracking points on the tracking route according to the tracking route;
Obtaining coordinate values of a non-initial position corresponding to each vehicle in the other vehicles in sequence according to the coordinate difference between the initial position and each two tracing points;
And for each vehicle in the other vehicles, determining a corresponding tracking route according to the initial position of the vehicle and the coordinate values of the non-initial positions obtained in sequence.
From the above description, it can be known that the tracking route of each vehicle can be simply and quickly obtained according to the coordinate difference between every two tracking points on the tracking route and the initial position of each vehicle in other vehicles, and the parallelism and consistency of the tracking routes corresponding to the vehicles are also ensured, and the synchronism of the vehicles during tracking is ensured.
Further, the S4 includes:
Acquiring the position and the running vector of the first vehicle in real time, recording the position and the running vector as a first position and a first running vector, and acquiring the position and the running vector of each vehicle in other vehicles, and recording the position and the running vector as a second position and a second running vector;
Determining a first normal vector corresponding to the first running vector according to the first running vector, and determining a second normal vector corresponding to the second running vector according to the second running vector;
For other vehicles with offset between the second normal vector and the first normal vector, adjusting the corresponding second normal vector through a PID algorithm to enable the offset between the second normal vector and the first normal vector to be within a preset error;
And for other vehicles with deviation between the second position and the first position, adjusting the acceleration of the other vehicles according to the distance difference between the first position and the second position and the predicted position of the first vehicle, which is reached in the future preset time T.
According to the description, in the process of tracking a plurality of vehicles, the position and the running vector of the first vehicle are taken as the standard, and other vehicles which deviate from the first vehicle are adjusted in time, so that the asynchronization among the vehicles caused by conditions such as actual site factors or unstable actual running of the vehicles in the actual tracking process is avoided, and the synchronism among the vehicles is ensured.
Further, the adjusting the corresponding second normal vector by the PID algorithm includes:
The adjustment amount Y of the second normal vector is:
Y＝Kp*e(t)+Ki*∫e(t)*dt+Kd*d/dt*e(t)；
Where Kp denotes a proportional constant of PID control, Ki denotes an integral constant of PID control, Kd denotes a differential constant of PID control, and e (t) denotes an offset amount between the second normal vector and the first normal vector.
From the above description, it can be known that the deviation between the normal vectors of the other vehicles and the first vehicle is adjusted by the PID algorithm, and the deviation can be effectively corrected, so that the normal vectors of the other vehicles and the first vehicle are timely synchronized and quickly reach a stable state.
Example one
Referring to fig. 1, a method for planning a tracking route of a plurality of vehicles includes the steps of:
S1, setting a tracking route of a first vehicle in the plurality of vehicles and starting positions of other vehicles in the plurality of vehicles;
Wherein setting a tracking route of one of the plurality of vehicles comprises:
Generating a tracking route of the first vehicle by receiving a point determined by a mouse on a computer screen;
Calculating the actual distance between any two adjacent points determined by the mouse through map scaling, judging whether the actual distance is greater than a preset distance, and if so, adding a point taking number between the two adjacent points according to the preset maximum distance between the adjacent tracking points;
After receiving a point determined by a mouse, before determining the next point by the mouse, when the position where the mouse stays is sensed, calculating the number of points to be added between the point determined by the mouse and the position where the mouse stays;
Specifically, the control platform selects three points according to the site position on the google map to determine the map available for the control platform, the longitude and latitude of each point and the pixel point coordinate on the computer screen can be determined, the zoom scale of the map can be determined at the same time, and the longitude and latitude and the pixel coordinate value of the position can be calculated by placing the mouse at any position on the map;
When a tracking route is planned, calculating an actual distance between any two points through map scaling, and when the actual distance is overlarge, adding a point number between the two points, wherein the added point number is determined according to a preset maximum distance between tracking points; meanwhile, after a certain point is determined by the mouse and before the next point is determined, the position where the mouse stays each time is immediately calculated by increasing the number of the points to be taken, so that the number of the points to be increased can be immediately obtained when the mouse is pressed down;
When the planned tracking line has overlarge turning angle, the control platform can control the angle within a range of 90 degrees left and right, so that overlarge turning is avoided;
S2, determining the respective tracking routes of the other vehicles according to the tracking routes and the starting positions;
Specifically, the coordinate difference between every two tracking points on the tracking route is determined according to the tracking route;
Obtaining coordinate values of a non-initial position corresponding to each vehicle in the other vehicles in sequence according to the coordinate difference between the initial position and each two tracing points;
For each vehicle in the other vehicles, determining a corresponding tracking route according to the initial position of the vehicle and the coordinate values of the non-initial positions obtained in sequence;
As shown in fig. 3, three ABC unmanned vehicles plan a tracking route for vehicle a on the control platform, and the control platform automatically generates tracking routes for vehicles B and C to realize parallel driving of the three vehicles:
The realization principle is as follows:
1. Manually setting a tracking route of a first vehicle;
2. Manually setting the starting positions of other vehicles;
3. according to the tracking route of the first vehicle, the coordinate difference △ Xn and △ Yn between the coordinates of every two adjacent points can be obtained;
4. coordinate values of non-initial positions are sequentially obtained by coordinate points of tracking routes of other vehicles according to the coordinate difference in the step 3, wherein Xn is Xn-1+ △ Xn-1, Yn is Yn-1+ △ Yn-1;
S3, controlling the plurality of vehicles to run in parallel according to the determined tracking route of each vehicle;
And S4, adjusting the speed and the driving direction of other vehicles in real time according to the position and the driving vector of the first vehicle in the process of controlling the plurality of vehicles to run in parallel so as to ensure the parallel running among the plurality of vehicles.
Example two
In this embodiment, compared to the first embodiment, it is further defined that the S4 includes:
Acquiring the position and the running vector of the first vehicle in real time, recording the position and the running vector as a first position and a first running vector, and acquiring the position and the running vector of each vehicle in other vehicles, and recording the position and the running vector as a second position and a second running vector;
Determining a first normal vector corresponding to the first running vector according to the first running vector, and determining a second normal vector corresponding to the second running vector according to the second running vector;
For other vehicles with offset between the second normal vector and the first normal vector, adjusting the corresponding second normal vector through a PID algorithm to enable the offset between the second normal vector and the first normal vector to be within a preset error;
For other vehicles with deviation between the second position and the first position, adjusting the acceleration of the other vehicles according to the distance difference between the first position and the second position and the predicted position of the first vehicle, which is reached within the future preset time T;
Specifically, as shown in fig. 4, a first vehicle is set as a vehicle a, the position and the driving vector Va of the vehicle a are acquired in real time, and the driving speed and the direction of the vehicle a are obtained, where the magnitude of the vector is the speed of the vehicle a, and the direction is the driving direction of the vehicle a; the parking place B is subjected to real-time adjustment according to the driving path of the vehicle A, and compared with the vector Va, the direction and the size of the driving vector Vb of the vehicle can be adjusted in real time:
The first condition is as follows: when the normal first normal vector of the vehicle A deviates from the normal second normal vector of the driving vector of the vehicle B and the parallel direction does not deviate, the normal second normal vector of the vehicle B is adjusted through a PID algorithm:
The adjustment amount Y of the second normal vector is:
Y＝Kp*e(t)+Ki*∫e(t)*dt+Kd*d/dt*e(t)；
Where Kp denotes a proportional constant of PID control, Ki denotes an integral constant of PID control, Kd denotes a differential constant of PID control, and e (t) denotes an offset amount between the second normal vector and the first normal vector;
When the vehicle sends normal vector deflection, the direction of the vehicle is adjusted by adjusting the electric steering power assisting device, the adjustment result is that the expected 5% error is achieved as a target, the measure index is that the overshoot value is ensured to be as small as possible, and the adjustment times are as small as possible as a target;
Case two: when the deflection in the parallel direction is generated, namely the vehicle B lags behind the vehicle A, the time for the vehicle B to catch up with the vehicle A is determined according to the distance difference between the vehicle B and the vehicle A, and the time for the motion adjustment of the vehicle B is determined according to the distance between the predicted arrival point Ba2 of the vehicle A at the future time T and the current vehicle B, so that the vehicle B can arrive at the position corresponding to the position Ba2 in parallel at the future time T:
When the vehicle A and the vehicle B have a difference of a distance delta S, assuming that the acceleration of the vehicle B is K, according to the formula:
Va*t+ΔS＝Vb*t+1/2*K*t2；
According to the index of t, the acceleration value of the vehicle B can be adjusted, namely the acceleration of the vehicle running is controlled through the opening degree of an accelerator;
Case three: when the deviation of the normal vector and the deviation of the parallel direction occur between the A vehicle and the B vehicle, one direction is adjusted first, and after the adjustment of one direction is completed, the other direction is adjusted.
EXAMPLE III
Referring to fig. 2, a terminal 1 for planning a tracking route of a plurality of vehicles includes a memory 2, a processor 3, and a computer program stored on the memory 2 and executable on the processor 3, wherein the processor 3 implements the steps of the first embodiment or the second embodiment when executing the computer program.
In summary, according to the method and the terminal for planning the tracking routes of multiple vehicles provided by the present invention, for the tracking planning of multiple vehicles, the tracking routes of other vehicles are determined according to the preset tracking route of one vehicle and the starting positions of other vehicles, the multiple vehicles are controlled to run in parallel according to the determined tracking route of each vehicle, and in the process of running in parallel, the other vehicles can adjust the normal vector and the speed of one vehicle according to the position and the running vector of the one vehicle in real time, so as to ensure the synchronization between the normal vector and the speed of the one vehicle, thereby ensuring the synchronization and the parallelism between the vehicles, and realizing the autonomous parallel running between the multiple vehicles without human extra intervention.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method of planning a tracking path for a plurality of vehicles, comprising the steps of:
S1, setting a tracking route of a first vehicle in the plurality of vehicles and starting positions of other vehicles in the plurality of vehicles;
S2, determining the respective tracking routes of the other vehicles according to the tracking routes and the starting positions;
S3, controlling the plurality of vehicles to run in parallel according to the determined tracking route of each vehicle;
And S4, adjusting the speed and the driving direction of other vehicles in real time according to the position and the driving vector of the first vehicle in the process of controlling the plurality of vehicles to run in parallel so as to ensure the parallel running among the plurality of vehicles.
2. The method for planning the tracking route of a plurality of vehicles according to claim 1, wherein the step of setting the tracking route of one of the vehicles in the step of S1 comprises:
Generating a tracking route of the first vehicle by receiving a point determined by a mouse on a computer screen;
Calculating the actual distance between any two adjacent points determined by the mouse through map scaling, judging whether the actual distance is greater than a preset distance, and if so, adding a point taking number between the two adjacent points according to the preset maximum distance between the adjacent tracking points;
After receiving a point determined by the mouse, before determining the next point by the mouse, when the position where the mouse stays is sensed, calculating the number of points to be added between the point determined by the mouse and the position where the mouse stays.
3. The method for planning a tracking route of a plurality of vehicles according to claim 1, wherein the step S2 comprises:
Determining the coordinate difference between every two tracking points on the tracking route according to the tracking route;
Obtaining coordinate values of a non-initial position corresponding to each vehicle in the other vehicles in sequence according to the coordinate difference between the initial position and each two tracing points;
And for each vehicle in the other vehicles, determining a corresponding tracking route according to the initial position of the vehicle and the coordinate values of the non-initial positions obtained in sequence.
4. The method for planning a tracking route of a plurality of vehicles according to claim 1, wherein the step S4 comprises:
Acquiring the position and the running vector of the first vehicle in real time, recording the position and the running vector as a first position and a first running vector, and acquiring the position and the running vector of each vehicle in other vehicles, and recording the position and the running vector as a second position and a second running vector;
Determining a first normal vector corresponding to the first running vector according to the first running vector, and determining a second normal vector corresponding to the second running vector according to the second running vector;
For other vehicles with offset between the second normal vector and the first normal vector, adjusting the corresponding second normal vector through a PID algorithm to enable the offset between the second normal vector and the first normal vector to be within a preset error;
And for other vehicles with deviation between the second position and the first position, adjusting the acceleration of the other vehicles according to the distance difference between the first position and the second position and the predicted position of the first vehicle, which is reached in the future preset time T.
5. The method of claim 4, wherein the adjusting the corresponding second normal vector by the PID algorithm comprises:
The adjustment amount Y of the second normal vector is:
Y＝Kp*e(t)+Ki*∫e(t)*dt+Kd*d/dt*e(t)；
Where Kp denotes a proportional constant of PID control, Ki denotes an integral constant of PID control, Kd denotes a differential constant of PID control, and e (t) denotes an offset amount between the second normal vector and the first normal vector.
6. A terminal for planning a tracking path for a plurality of vehicles, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the computer program performs the steps of:
S1, setting a tracking route of a first vehicle in the plurality of vehicles and starting positions of other vehicles in the plurality of vehicles;
S2, determining the respective tracking routes of the other vehicles according to the tracking routes and the starting positions;
S3, controlling the plurality of vehicles to run in parallel according to the determined tracking route of each vehicle;
And S4, adjusting the speed and the driving direction of other vehicles in real time according to the position and the driving vector of the first vehicle in the process of controlling the plurality of vehicles to run in parallel so as to ensure the parallel running among the plurality of vehicles.
7. The terminal for planning the tracking route of a plurality of vehicles according to claim 6, wherein the step of setting the tracking route of one of the vehicles in the step of S1 comprises:
Generating a tracking route of the first vehicle by receiving a point determined by a mouse on a computer screen;
Calculating the actual distance between any two adjacent points determined by the mouse through map scaling, judging whether the actual distance is greater than a preset distance, and if so, adding a point taking number between the two adjacent points according to the preset maximum distance between the adjacent tracking points;
After receiving a point determined by the mouse, before determining the next point by the mouse, when the position where the mouse stays is sensed, calculating the number of points to be added between the point determined by the mouse and the position where the mouse stays.
8. The terminal for planning the tracking route of a plurality of vehicles according to claim 6, wherein said S2 includes:
Determining the coordinate difference between every two tracking points on the tracking route according to the tracking route;
Obtaining coordinate values of a non-initial position corresponding to each vehicle in the other vehicles in sequence according to the coordinate difference between the initial position and each two tracing points;
And for each vehicle in the other vehicles, determining a corresponding tracking route according to the initial position of the vehicle and the coordinate values of the non-initial positions obtained in sequence.
9. The terminal for planning the tracking route of a plurality of vehicles according to claim 6, wherein said S4 includes:
Acquiring the position and the running vector of the first vehicle in real time, recording the position and the running vector as a first position and a first running vector, and acquiring the position and the running vector of each vehicle in other vehicles, and recording the position and the running vector as a second position and a second running vector;
Determining a first normal vector corresponding to the first running vector according to the first running vector, and determining a second normal vector corresponding to the second running vector according to the second running vector;
For other vehicles with offset between the second normal vector and the first normal vector, adjusting the corresponding second normal vector through a PID algorithm to enable the offset between the second normal vector and the first normal vector to be within a preset error;
And for other vehicles with deviation between the second position and the first position, adjusting the acceleration of the other vehicles according to the distance difference between the first position and the second position and the predicted position of the first vehicle, which is reached in the future preset time T.
10. The terminal for planning the tracking route of a plurality of vehicles according to claim 9, wherein the adjusting the corresponding second normal vector by PID algorithm comprises:
The adjustment amount Y of the second normal vector is:
Y＝Kp*e(t)+Ki*∫e(t)*dt+Kd*d/dt*e(t)；
Where Kp denotes a proportional constant of PID control, Ki denotes an integral constant of PID control, Kd denotes a differential constant of PID control, and e (t) denotes an offset amount between the second normal vector and the first normal vector.
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