CN111696339B

CN111696339B - Car following control method and system for automatic driving fleet and car

Info

Publication number: CN111696339B
Application number: CN201910198928.8A
Authority: CN
Inventors: 李文锐; 吴楠; 徐勇; 毕青鑫; 彭瑞; 李一鸣; 温博轩
Original assignee: Tusimple Inc
Current assignee: Tusimple Inc
Priority date: 2019-03-15
Filing date: 2019-03-15
Publication date: 2021-11-19
Anticipated expiration: 2039-03-15
Also published as: CN111696339A

Abstract

The application provides a car following control method, a car following control system and a car for an automatic driving fleet, and relates to the technical field of automatic driving. In the system, a front vehicle-mounted server obtains a driving track of a front vehicle per se and extracts track key points according to the driving track of the front vehicle; the front vehicle-mounted server sends the track key points to the rear vehicle communication equipment through the front vehicle communication equipment; the rear vehicle-mounted server performs curve fitting according to the track key points to obtain a previous vehicle historical track curve; the rear vehicle-mounted server obtains position and course information of the rear vehicle, and performs curve fitting according to any point on the historical track curve of the front vehicle to obtain a motion planning curve; and the rear vehicle-mounted server controls the rear vehicle according to the motion planning curve and the historical track curve of the front vehicle behind any point, so that the rear vehicle runs according to the motion planning curve and the historical track curve of the front vehicle behind any point.

Description

Car following control method and system for automatic driving fleet and car

Technical Field

The application relates to the technical field of automatic driving, in particular to a following control method and system for an automatic driving fleet and a vehicle.

Background

Currently, a coordinated autonomous Vehicle fleet (platonic) refers to a formation state in which a plurality of vehicles drive with a very small Vehicle distance in the trail based on autonomous driving technology and V2V (Vehicle-to-Vehicle) Vehicle networking technology. In formation, the distance is far lower than the safe driving distance in the general sense, and is only 20 meters or even smaller, the airflow broken by the head vehicle can be directly received by the second vehicle at the tail of the vehicle by the extremely small distance, and a low-pressure vortex area can not be formed, so that the total air resistance value of the whole motorcade in the driving process is effectively reduced. The reduced resistance of the vehicle running under the state of the coordinated automatic driving motorcade can save about 10 percent of oil consumption. This short interval can be maintained in coordination with the autonomous vehicle fleet, primarily because V2V can achieve communication within 100ms from end-to-end, benefiting from the low latency communication of V2V communication. Therefore, based on the V2V technology, information interaction is possible between vehicles, and a group of vehicles in a formation can follow a leading vehicle (pilot vehicle) and operate by itself as it operates. For example, the pilot vehicle is operated by stepping on an accelerator, a brake or a steering, and the vehicles in the rear row can be operated in the same way in a short time.

However, the following vehicles only operate with the pilot vehicle to step on the accelerator, brake or steer, and the like, so that it is difficult to meet the demand of following the pilot vehicle, and the situation of vehicle track deviation and the like is easily caused. Therefore, how to control the following vehicle according to the driving track of the pilot vehicle is a problem to be solved urgently.

Disclosure of Invention

The embodiment of the application provides a following control method, a following control system and a following control vehicle of an automatic driving fleet, so that the following control is realized according to a running track of a pilot vehicle.

In order to achieve the purpose, the technical scheme is as follows:

in a first aspect of an embodiment of the present application, a following control system for an autonomous driving fleet is provided, where the system includes a front vehicle-mounted server, a front vehicle communication device, a rear vehicle-mounted server, and a rear vehicle communication device; the front vehicle-mounted server is connected with the front vehicle communication equipment, the rear vehicle-mounted server is connected with the rear vehicle communication equipment, and the front vehicle communication equipment and the rear vehicle communication equipment can communicate;

the method comprises the steps that a front vehicle-mounted server obtains a driving track of a front vehicle per se and extracts track key points according to the driving track of the front vehicle;

the front vehicle-mounted server sends the track key points to the rear vehicle communication equipment through the front vehicle communication equipment;

the rear vehicle-mounted server performs curve fitting according to the track key points to obtain a previous vehicle historical track curve;

the rear vehicle-mounted server obtains position and course information of the rear vehicle, and performs curve fitting according to any point on the historical track curve of the front vehicle to obtain a motion planning curve;

and the rear vehicle-mounted server controls the rear vehicle according to the motion planning curve and the historical track curve of the front vehicle behind any point, so that the rear vehicle runs according to the motion planning curve and the historical track curve of the front vehicle behind any point.

In a second aspect of the embodiments of the present application, a following control method for an automatic driving fleet is provided, which is applied to a following control system for an automatic driving fleet, and the system includes a front vehicle-mounted server, a front vehicle communication device, a rear vehicle-mounted server, and a rear vehicle communication device; the front vehicle-mounted server is connected with the front vehicle communication equipment, the rear vehicle-mounted server is connected with the rear vehicle communication equipment, and the front vehicle communication equipment and the rear vehicle communication equipment can communicate;

the method comprises the following steps:

the front vehicle-mounted server sends the track key points to the rear vehicle communication equipment through the front vehicle communication equipment, so that the rear vehicle-mounted server performs curve fitting according to the track key points to obtain a front vehicle historical track curve, obtains the position and course information of the front vehicle, performs curve fitting according to any point on the front vehicle historical track curve to obtain a motion planning curve, and controls the rear vehicle according to the motion planning curve and the front vehicle historical track curve after any point, so that the rear vehicle is driven according to the motion planning curve and the front vehicle historical track curve after any point.

In a third aspect of the embodiments of the present application, a following control method for an automatic driving fleet is provided, which is applied to a following control system for an automatic driving fleet, and the system includes a front vehicle-mounted server, a front vehicle communication device, a rear vehicle-mounted server, and a rear vehicle communication device; the front vehicle-mounted server is connected with the front vehicle communication equipment, the rear vehicle-mounted server is connected with the rear vehicle communication equipment, and the front vehicle communication equipment and the rear vehicle communication equipment can communicate;

the method comprises the following steps:

the rear vehicle-mounted server receives the track key points sent by the front vehicle-mounted server through the front vehicle communication equipment through the rear vehicle communication equipment; the track key points are obtained by acquiring the driving track of the front vehicle through the front vehicle-mounted server and extracting the driving track according to the driving track of the front vehicle;

In a fourth aspect of the embodiments of the present application, there is provided a vehicle including a preceding vehicle-mounted server and a preceding vehicle communication apparatus, the preceding vehicle-mounted server being connected to the preceding vehicle communication apparatus; a rear vehicle follows the rear side of the vehicle, the rear vehicle comprises a rear vehicle-mounted server and rear vehicle communication equipment, the rear vehicle-mounted server is connected with the rear vehicle communication equipment, and the front vehicle communication equipment and the rear vehicle communication equipment can communicate;

In a fifth aspect of embodiments of the present application, there is provided a vehicle, the vehicle including a rear vehicle-mounted server and a rear vehicle communication device, the rear vehicle-mounted server being connected to the rear vehicle communication device; the vehicle follows behind a front vehicle, the front vehicle comprises a front vehicle-mounted server and front vehicle communication equipment, the front vehicle-mounted server is connected with the front vehicle communication equipment, and the rear vehicle communication equipment can communicate with the front vehicle communication equipment;

In a sixth aspect of the embodiments of the present application, there is provided a computer-readable storage medium having stored thereon a computer program for use in a following control system of an autonomous driving fleet, the system including a front vehicle-mounted server, a front vehicle communication device, a rear vehicle-mounted server, and a rear vehicle communication device; the front vehicle-mounted server is connected with the front vehicle communication equipment, the rear vehicle-mounted server is connected with the rear vehicle communication equipment, and the front vehicle communication equipment and the rear vehicle communication equipment can communicate;

when executed by a processor, the program implements the following control method for an autonomous driving fleet according to the second aspect.

In a seventh aspect of the embodiments of the present application, there is provided a computer device, including a memory, a processor and a computer program stored on the memory and executable on the processor, for use in a following control system of an autonomous driving vehicle fleet, the system including a front vehicle-mounted server, a front vehicle communication device, a rear vehicle-mounted server and a rear vehicle communication device; the front vehicle-mounted server is connected with the front vehicle communication equipment, the rear vehicle-mounted server is connected with the rear vehicle communication equipment, and the front vehicle communication equipment and the rear vehicle communication equipment can communicate;

and when the processor executes the program, the following control method of the automatic driving fleet corresponding to the second aspect is realized.

In an eighth aspect of embodiments of the present application, there is provided a computer-readable storage medium having stored thereon a computer program for use in a following control system of an autonomous driving fleet, the system including a front vehicle-mounted server, a front vehicle communication device, a rear vehicle-mounted server, and a rear vehicle communication device; the front vehicle-mounted server is connected with the front vehicle communication equipment, the rear vehicle-mounted server is connected with the rear vehicle communication equipment, and the front vehicle communication equipment and the rear vehicle communication equipment can communicate;

the program is executed by a processor to implement the following control method for an autonomous vehicle fleet according to the third aspect.

In a ninth aspect of the embodiments of the present application, there is provided a computer device, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, for use in a following control system of an autonomous driving vehicle fleet, the system comprising a front vehicle-mounted server, a front vehicle communication device, a rear vehicle-mounted server and a rear vehicle communication device; the front vehicle-mounted server is connected with the front vehicle communication equipment, the rear vehicle-mounted server is connected with the rear vehicle communication equipment, and the front vehicle communication equipment and the rear vehicle communication equipment can communicate;

and when the processor executes the program, the following control method of the automatic driving fleet corresponding to the third aspect is realized.

According to the following control method, the following control system and the following control vehicle of the automatic driving fleet, a front vehicle-mounted server obtains the driving track of the front vehicle and extracts the key points of the track according to the driving track of the front vehicle; then, the track key points are sent to rear vehicle communication equipment through front vehicle communication equipment; the rear vehicle-mounted server performs curve fitting according to the track key points to obtain a previous vehicle historical track curve; then obtaining the position and course information of the vehicle, and performing curve fitting according to any point on the previous vehicle historical track curve to obtain a motion planning curve; and then controlling the rear vehicle according to the motion planning curve and the historical track curve of the front vehicle behind any point, so that the rear vehicle runs according to the motion planning curve and the historical track curve of the front vehicle behind any point. Therefore, the following vehicle can be controlled according to the running track of the pilot vehicle, so that the situation that the following vehicle only steps on an accelerator, steps on a brake or turns and the like along with the pilot vehicle is avoided, the requirement of following the pilot vehicle is difficult to meet, and the problem that the vehicle track is deviated and the like is easily generated.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.

Fig. 1 is a first schematic structural diagram of a following control system of an automatic driving fleet according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram illustrating track key points extracted according to a driving track of a preceding vehicle in the embodiment of the present application;

fig. 3 is a first flowchart of a following control method for an autonomous driving fleet according to an embodiment of the present disclosure;

fig. 4 is a second flowchart of a following control method for an autonomous driving fleet according to an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of a vehicle (i.e., a front vehicle) according to an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of a vehicle (i.e., a rear vehicle) according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It is worth mentioning that the term "vehicle" is to be interpreted broadly in this application to include any moving object, including for example aircraft, boats, spacecraft, cars, trucks, vans, semitrailers, motorcycles, golf carts, off-road vehicles, warehouse transportation vehicles or agricultural vehicles, as well as vehicles traveling on rails, such as trams or trains, and other rail vehicles. The "vehicle" in the present application may generally include: power systems, sensor systems, control systems, peripheral devices, and computer systems. In other embodiments, the vehicle may include more, fewer, or different systems.

Wherein, the driving system is the system for providing power motion for the vehicle, includes: engine/motor, transmission and wheels/tires, power unit.

The control system may comprise a combination of devices controlling the vehicle and its components, such as a steering unit, a throttle, a brake unit.

The peripheral devices may be devices that allow the vehicle to interact with external sensors, other vehicles, external computing devices, and/or users, such as wireless communication systems, touch screens, microphones, and/or speakers.

In the vehicle based on the above description, for example, the unmanned vehicle is also provided with a sensor system and an unmanned control device.

The sensor system may include a plurality of sensors for sensing information about the environment in which the vehicle is located, and one or more actuators for changing the position and/or orientation of the sensors. The sensor system may include any combination of sensors such as global positioning system sensors, inertial measurement units, radio detection and ranging (RADAR) units, cameras, laser rangefinders, light detection and ranging (LIDAR) units, and/or acoustic sensors; the sensor system may also include sensors (e.g., O) that monitor the vehicle interior systems₂Monitors, fuel gauges, engine thermometers, etc.).

The drone controlling device may include a processor and a memory, the memory having stored therein at least one machine executable instruction, the processor executing the at least one machine executable instruction to implement functions including a map engine, a positioning module, a perception module, a navigation or routing module, and an automatic control module, among others. The map engine and the positioning module are used for providing map information and positioning information. The sensing module is used for sensing things in the environment where the vehicle is located according to the information acquired by the sensor system and the map information provided by the map engine. And the navigation or path module is used for planning a driving path for the vehicle according to the processing results of the map engine, the positioning module and the sensing module. The automatic control module inputs and analyzes decision information of modules such as a navigation module or a path module and the like and converts the decision information into a control command output to a vehicle control system, and sends the control command to a corresponding component in the vehicle control system through a vehicle-mounted network (for example, an electronic network system in the vehicle, which is realized by CAN (controller area network) bus, local area internet, multimedia directional system transmission and the like), so as to realize automatic control of the vehicle; the automatic control module can also acquire information of each component in the vehicle through a vehicle-mounted network.

In order to make the present application better understood by those skilled in the art, technical terms referred to in the embodiments of the present application are explained as follows:

GPS: global Positioning System, Global Positioning System.

GNSS: global Navigation Satellite System, Global Satellite Navigation System.

An IMU: inertial Measurement Unit, Inertial Measurement Unit.

CAN: controller Area Network, field bus in vehicle.

V2X: vehicle to X, a Vehicle-to-outside information exchange technology is a key technology of a future intelligent transportation system.

PID control: a contribution-Integral-Differential, proportional-Integral-derivative controller.

Pose: pose, a generic term for position and attitude, contains 6 degrees of freedom, including 3 degrees of positional freedom and 3 degrees of orientation freedom. The 3 orientation degrees of freedom are usually expressed in pitch, roll, yaw. In the present application, since the vehicle generally runs on a horizontal road surface, only the yaw angle may be considered.

In order to make the application more understandable to those skilled in the art, the following description is provided for an application environment related to the application, for example, the application may be applied to following control of an autonomous driving fleet in an environment such as an expressway, an urban road, a port, a customs, a warehouse, a logistics park, and the like. The above are only individual application examples in the present application, and it should be understood that, under the teaching of the embodiments of the present application, those skilled in the art can also provide more application examples according to the needs, and the present application is not limited to these application examples.

In implementing the embodiments of the present application, the inventors found that in an autonomous driving fleet, generally, when a following vehicle follows a preceding vehicle, the following vehicle is generally applied to an actuator of the following vehicle by performing positioning only by using a lane line recognition or a high-precision map and obtaining a corresponding control amount of the preceding vehicle. In this way, when the travel distance of the automatic driving fleet is short (such as several tens of meters), the error is small, and if the travel distance of the automatic driving fleet is long, the following control of the following vehicle is prone to have deviation, so that the following vehicle has track deviation.

Therefore, the rear vehicle is positioned only by identifying the lane line or by a high-precision map, and is controlled by stepping on an accelerator, stepping on a brake or steering along with the pilot vehicle, so that the requirement of following the pilot vehicle is difficult to meet, and the conditions of vehicle track deviation and the like are easily generated. Therefore, how to control the following vehicle according to the driving track of the pilot vehicle is a problem to be solved urgently.

In order to realize the control of following vehicles according to the driving track of a pilot vehicle, as shown in fig. 1, the embodiment of the application provides a following control system 10 of an automatic driving fleet, wherein the system 10 comprises a front vehicle-mounted server 101 and a front vehicle communication device 102 which are arranged on a front vehicle 201, and a rear vehicle-mounted server 103 and a rear vehicle communication device 104 which are arranged on a rear vehicle 202. The front vehicle-mounted server 101 is connected to a front vehicle communication device 102, the rear vehicle-mounted server 103 is connected to a rear vehicle communication device 104, and the front vehicle communication device 102 and the rear vehicle communication device 104 are capable of communication. The front vehicle 201 may be a pilot vehicle (the pilot vehicle may be a manually driven vehicle or an autonomous vehicle), or may be any vehicle other than the last vehicle in the autonomous vehicle group, instead of the pilot vehicle. The rear vehicle 202 may then be any vehicle behind the lead vehicle. "front" and "back" are relative concepts used herein to represent, in one embodiment, the relative positions of two adjacent vehicles in a fleet.

The preceding vehicle-mounted server 101 obtains its own preceding vehicle travel track, and extracts track key points from the preceding vehicle travel track.

The front vehicle-mounted server 101 transmits the trajectory key point to the rear vehicle communication device 104 through the front vehicle communication device 102.

And the rear vehicle-mounted server 103 performs curve fitting according to the track key points to obtain a previous vehicle historical track curve.

The rear vehicle-mounted server 103 obtains the position and the course information of the rear vehicle, and performs curve fitting according to any point on the historical track curve of the front vehicle to obtain a motion planning curve.

The rear vehicle-mounted server 103 controls the rear vehicle according to the motion planning curve and the previous vehicle historical track curve after any point, so that the rear vehicle runs according to the motion planning curve and the previous vehicle historical track curve after any point.

In an embodiment, for the front vehicle-mounted server 101 to obtain its own front vehicle driving track, the front vehicle-mounted server 101 may specifically:

obtaining coordinate information, speed information, acceleration information, course information, steering wheel state information and vehicle lamp state information of a front vehicle in real time according to a preset sampling frequency (such as 20Hz, even faster) to form sampling points corresponding to each sampling moment; and determining a curve formed by the sampling points as the running track of the front vehicle.

The coordinate information may be longitude and latitude information, or a coordinate of the preceding vehicle in a preset global coordinate system (e.g., a coordinate system established in advance with a point in a scene where the vehicle is located as an origin); the coordinate information may be obtained from the vehicle's GNSS (e.g., GPS), IMU, etc. The speed information, acceleration information, steering wheel state information, and lamp state information may be obtained from a CAN bus or the like of the vehicle. This heading information (i.e., the yaw angle in the pose) may be obtained at the IMU or the like in the vehicle. The coordinate information, the speed information, the acceleration information, the course information, the steering wheel state information and the vehicle lamp state information form sampling points corresponding to the sampling moments.

In an embodiment, since the communication bandwidth between vehicles is limited in the autonomous vehicle fleet, it is impossible to send all the above sampling points without limitation, and therefore it is necessary to extract the key points of the trajectory according to the driving trajectory of the preceding vehicle, as shown in fig. 2, that is, the on-board server 101 of the preceding vehicle, specifically:

a first point 302 is obtained in the preceding vehicle travel track 301 as a first track key point. The first point 302 may be any point on the travel path of the leading vehicle, and in one embodiment may be a point in the travel path of the leading vehicle that is closer to the trailing vehicle.

Traversing the driving track 301 of the front vehicle behind the first track key point according to the driving direction of the front vehicle to obtain a second track key point 303; the first track key point and the second track key point 303 meet a first condition, or when the first track key point and the second track key point 303 do not meet the first condition, a second condition is met; wherein the first condition is: the first track key point and the second track key point 303 are on the same circle, the course of the first track key point and the second track key point 303 is the tangential direction of the circle, the first track key point and the second track key point 303 are connected, a chord 304 and an arc 305 between the first track key point and the second track key point 303 are obtained, the maximum value E of the vertical distance between the chord 304 and the arc 305 is determined, and the E is more than or equal to a preset vertical distance threshold value E _ th; the second condition is: the distance D between the first track key point and the second track key point 303 is greater than or equal to a preset distance threshold value D _ th; the purpose of setting the first condition and the second condition is to select the track key points as many as possible when the radian of the running track 301 of the front vehicle is large, and when the radian of the running track 301 of the front vehicle is small, the track key points are not selected so as to ensure the following requirement of the rear vehicle, and when a certain distance is reached, a track key point is obtained.

Updating the second track key point to be the first track key point, and returning to the step of traversing the front vehicle running track behind the first track key point according to the front vehicle running direction to obtain a second track key point; in this way, the traversal process of the trajectory key points can be continued.

Taking the last point obtained by traversing the driving track of the front vehicle behind the first track key point as a second track key point; the last point is a sampling point corresponding to the current sampling time, such as the rightmost point in fig. 2.

And taking the first track key point and the traversed second track key point as the extracted track key point.

Thereafter, in one embodiment, the front vehicle-mounted server 101 transmits the trajectory key point to the rear vehicle communication device 104 through the front vehicle communication device 102. The preceding vehicle communication device 102 and the following vehicle communication device 104 herein may be V2X communication devices. In addition, with the continuous running of the front vehicle, a running track of the front vehicle is gradually formed, and new track key points are extracted and obtained, so that in order to avoid overlarge data volume, the front vehicle can delete the track key points extracted firstly when the total number of the extracted track key points is greater than a certain threshold value; or the preceding vehicle may delete one or more track key points extracted first when the distance represented by the extracted track key points is greater than a certain threshold, so as to avoid an excessive amount of data transmitted between subsequent communication devices through V2X.

In addition, in an embodiment, curve fitting is performed on the rear vehicle-mounted server 103 according to the track key points to obtain a previous vehicle historical track curve, and the rear vehicle-mounted server 103 may perform curve fitting according to each track key point, so that the rear vehicle-mounted server 103 only needs to fit a newly obtained curve related to the track key points in a subsequent process, and does not need to fit a fitted curve related to the track key points again, where the specific process may be:

and obtaining a fitting curve between each two adjacent track key points by adopting a spline curve fitting method, a Bezier curve fitting method or a fifth-order polynomial curve fitting method according to each track key point. Here, the information of two adjacent track key points is taken as input; if spline curve fitting or Bezier curve fitting is adopted, the information of two adjacent track key points comprises coordinate information (longitude and latitude information or coordinate values in a preset global coordinate system) and course information, other parameters can be ignored, and a curve of a fixed solution can be obtained through the coordinate information and the course information. If the five-order polynomial curve fitting is adopted, the information of two adjacent track key points comprises coordinate information, course information, speed and steering wheel turning angle (or vehicle front wheel turning angle), a plurality of solutions can be fitted, the optimal solutions are obtained by converting the solutions into optimization problems and adopting algorithms for obtaining the optimal solutions such as dynamic planning or simulated annealing, and the like, so that the optimal curve is obtained.

And carrying out interpolation according to the fitted curve to obtain intermediate point information between each two adjacent track key points. If spline curve fitting or Bezier curve fitting is adopted, the intermediate point information comprises coordinate information and course information of each intermediate point; if a fifth order polynomial curve fit is used, the intermediate point information here includes coordinate information, heading information, speed, and steering wheel angle (or vehicle front wheel angle) of each intermediate point.

And obtaining a previous vehicle historical track curve according to the information of the key points and the middle points of each two adjacent tracks. The historical track curve of the front vehicle is the target track expected to be followed by the rear vehicle.

In addition, in an embodiment, curve fitting is performed on the rear vehicle-mounted server 103 according to the track key points to obtain a previous vehicle historical track curve, the rear vehicle-mounted server 103 may only fit a curve corresponding to a currently required track key point, and the specific process may be:

the rear vehicle-mounted server 103 obtains a preset minimum planned distance. The minimum planned distance is to ensure that the rear vehicle can smoothly enter the target track when driving into the target track.

And obtaining the position and the course information of the rear vehicle, and selecting at least two adjacent track key points from the track key points according to the position and the course information of the rear vehicle, so that the positions of the at least two adjacent track key points to the rear vehicle are larger than or equal to the preset minimum planning distance.

And obtaining a fitting curve between each two adjacent track key points by adopting a spline curve fitting method, a Bezier curve fitting method or a fifth-order polynomial curve fitting method according to the at least two adjacent track key points. Here, information of at least two adjacent track key points is taken as input; if spline curve fitting or Bezier curve fitting is adopted, the information of two adjacent track key points comprises coordinate information (longitude and latitude information or coordinate values in a preset global coordinate system) and course information, other parameters can be ignored, and a curve of a fixed solution can be obtained through the coordinate information and the course information. If the five-order polynomial curve fitting is adopted, the information of two adjacent track key points comprises coordinate information, course information, speed and steering wheel turning angle (or vehicle front wheel turning angle), a plurality of solutions can be fitted, the optimal solutions are obtained by converting the solutions into optimization problems and adopting algorithms for obtaining the optimal solutions such as dynamic planning or simulated annealing, and the like, so that the optimal curve is obtained.

In addition, in an embodiment, the position and the heading information of the rear vehicle-mounted server 103 are obtained, and curve fitting is performed according to any point on the previous vehicle historical track curve to obtain a motion planning curve, and the rear vehicle-mounted server 103 may specifically be:

and obtaining a motion planning curve by adopting a spline curve fitting method, a Bezier curve fitting method or a fifth-order polynomial curve fitting method according to the position of the rear vehicle and any point on the historical track curve of the front vehicle. When selecting any point, the distance between the position of the rear vehicle and the any point is required to be greater than or equal to the minimum planning distance. Here, information on the position of the rear vehicle itself and information on any one point thereof are input; if spline curve fitting or Bezier curve fitting is adopted, the information of the position of the rear vehicle and the information of any point comprise coordinate information (longitude and latitude information or coordinate values under a preset global coordinate system) and course information, other parameters can be ignored, and a curve of a fixed solution can be obtained through the coordinate information and the course information. If the fifth-order polynomial curve fitting is adopted, the information of the position of the rear vehicle and the information of any point comprise coordinate information, course information, speed and steering wheel rotation angle (or vehicle front wheel rotation angle), a plurality of solutions can be fitted, the solutions are converted into an optimization problem, and an optimal solution is obtained by an algorithm for solving the optimal solution by dynamic programming or simulated annealing and the like, so that an optimal curve is obtained.

In addition, in an embodiment, for the rear vehicle-mounted server 103 to control the rear vehicle itself according to the motion planning curve and the previous vehicle historical track curve after any point, so that the rear vehicle travels according to the motion planning curve and the previous vehicle historical track curve after any point, the rear vehicle-mounted server 103 may specifically:

and determining the steering wheel turning angle control quantity of the rear vehicle by adopting a pure tracking algorithm, a Linear Quadratic Regulator (LQR) algorithm or a PID (proportion integration differentiation) controller algorithm according to the motion planning curve and the historical track curve of the front vehicle behind any point.

And outputting the steering wheel angle control quantity to an actuating mechanism of the rear vehicle to transversely control the rear vehicle so that the rear vehicle runs according to the motion planning curve and the historical track curve of the front vehicle behind any point.

In an embodiment, as shown in fig. 3, the present application further provides a following control method for an automatic driving fleet, which is applied to the following control system for an automatic driving fleet described above, and the system includes a front vehicle-mounted server, a front vehicle communication device, a rear vehicle-mounted server, and a rear vehicle communication device; the front vehicle-mounted server is connected with the front vehicle communication equipment, the rear vehicle-mounted server is connected with the rear vehicle communication equipment, and the front vehicle communication equipment and the rear vehicle communication equipment can communicate.

The following control method of the automatic driving motorcade takes a front vehicle-mounted server as an execution main body and comprises the following steps:

step 401, the front vehicle-mounted server obtains a driving track of a front vehicle of the front vehicle-mounted server, and extracts track key points according to the driving track of the front vehicle.

Step 402, the front vehicle-mounted server sends the track key points to the rear vehicle communication equipment through the front vehicle communication equipment, so that the rear vehicle-mounted server performs curve fitting according to the track key points to obtain a front vehicle historical track curve, obtains position and course information of the rear vehicle, performs curve fitting according to any point on the front vehicle historical track curve to obtain a motion planning curve, and controls the rear vehicle according to the motion planning curve and the front vehicle historical track curve after any point, so that the rear vehicle runs according to the motion planning curve and the front vehicle historical track curve after any point.

In an embodiment, the front vehicle-mounted server in step 401 obtains its own front vehicle driving track, which may be implemented as follows:

the method comprises the following steps that a front vehicle-mounted server obtains coordinate information, speed information, acceleration information, course information, steering wheel state information and vehicle lamp state information of a front vehicle in real time according to a preset sampling frequency to form sampling points corresponding to sampling moments;

and determining a curve formed by the sampling points as the running track of the front vehicle.

In an embodiment, the extracting of the key points of the trajectory according to the driving trajectory of the preceding vehicle in step 401 may be implemented as follows:

and acquiring a first point in the running track of the front vehicle as a first track key point.

Traversing the driving track of the front vehicle behind the first track key point according to the driving direction of the front vehicle to obtain a second track key point; the first track key point and the second track key point meet a first condition, or when the first track key point and the second track key point do not meet the first condition, a second condition is met; wherein the first condition is: the first track key point and the second track key point are on the same circle, the course of the first track key point and the course of the second track key point are tangential directions of the circle, the first track key point and the second track key point are connected, a chord and an arc between the first track key point and the second track key point are obtained, the maximum value E of the vertical distance between the chord and the arc is determined, and the E is more than or equal to a preset vertical threshold value E _ th; the second condition is: and the distance D between the first track key point and the second track key point is greater than or equal to a preset distance threshold value D _ th.

And updating the second track key point into the first track key point, and returning to the step of traversing the previous vehicle running track behind the first track key point according to the previous vehicle running direction to obtain a second track key point.

Taking the last point obtained by traversing the driving track of the front vehicle behind the first track key point as a second track key point; and the last point is a sampling point corresponding to the current sampling moment.

In an embodiment, as shown in fig. 4, the present application further provides a following control method for an automatic driving fleet, which is applied to the following control system for the automatic driving fleet described above, where the system includes a front vehicle-mounted server, a front vehicle communication device, a rear vehicle-mounted server, and a rear vehicle communication device; the front vehicle-mounted server is connected with the front vehicle communication equipment, the rear vehicle-mounted server is connected with the rear vehicle communication equipment, and the front vehicle communication equipment and the rear vehicle communication equipment can communicate.

The following control method of the automatic driving motorcade takes a vehicle-mounted server of a later vehicle as an execution main body and comprises the following steps:

and 501, the rear vehicle-mounted server receives the track key points sent by the front vehicle-mounted server through the front vehicle communication equipment through the rear vehicle communication equipment.

The track key points are obtained by acquiring the driving track of the front vehicle through the front vehicle-mounted server and extracting the driving track according to the driving track of the front vehicle.

And 502, the vehicle-mounted server of the rear vehicle performs curve fitting according to the key points of the track to obtain a historical track curve of the front vehicle.

And 503, the rear vehicle-mounted server obtains the position and the course information of the rear vehicle, and performs curve fitting according to any point on the historical track curve of the front vehicle to obtain a motion planning curve.

And step 504, the rear vehicle-mounted server controls the rear vehicle according to the motion planning curve and the historical track curve of the front vehicle behind any point, so that the rear vehicle runs according to the motion planning curve and the historical track curve of the front vehicle behind any point.

In an embodiment, the curve fitting is performed by the rear vehicle-mounted server in step 502 according to the track key points to obtain a previous vehicle historical track curve, which may specifically be implemented as follows:

and the rear vehicle-mounted server obtains a fitting curve between each two adjacent track key points by adopting a spline curve fitting method, a Bezier curve fitting method or a fifth-order polynomial curve fitting method according to each track key point.

And carrying out interpolation according to the fitted curve to obtain intermediate point information between each two adjacent track key points.

And obtaining a previous vehicle historical track curve according to the information of the key points and the middle points of each two adjacent tracks.

In an embodiment, the curve fitting is performed by the rear vehicle-mounted server in step 502 according to the key points of the track to obtain the historical track curve of the front vehicle, which can also be implemented in the following manner:

and the rear vehicle-mounted server obtains the preset minimum planning distance.

And obtaining a fitting curve between each two adjacent track key points by adopting a spline curve fitting method, a Bezier curve fitting method or a fifth-order polynomial curve fitting method according to the at least two adjacent track key points.

In an embodiment, in step 503, a curve fitting is performed according to any point on the previous vehicle historical track curve to obtain a motion planning curve, which may be implemented as follows:

and obtaining a motion planning curve by adopting a spline curve fitting method, a Bezier curve fitting method or a fifth-order polynomial curve fitting method according to the position of the rear vehicle and any point on the historical track curve of the front vehicle.

In an embodiment, the on-board server of the rear vehicle in step 504 controls the rear vehicle itself according to the motion planning curve and the historical trajectory curve of the front vehicle after any point, so that the rear vehicle travels according to the motion planning curve and the historical trajectory curve of the front vehicle after any point, and the following method may be adopted:

and the rear vehicle-mounted server determines the steering wheel rotation angle control quantity of the rear vehicle by adopting a pure tracking algorithm, a linear quadratic regulator algorithm or a PID (proportion integration differentiation) controller algorithm according to the motion planning curve and the historical track curve of the front vehicle behind any point.

In addition, in an embodiment, as shown in fig. 5, the present embodiment further provides a vehicle 201 (i.e., a preceding vehicle 201 in the above system 10), where the vehicle 201 includes a preceding vehicle-mounted server 101 and a preceding vehicle communication device 102, and the preceding vehicle-mounted server 101 is connected to the preceding vehicle communication device 102; the rear vehicle 202 follows behind the vehicle 201, the rear vehicle 202 includes a rear vehicle-mounted server 103 and a rear vehicle communication device 104, the rear vehicle-mounted server 103 and the rear vehicle communication device 104 are connected, and the front vehicle communication device 102 and the rear vehicle communication device 104 can communicate.

The front vehicle-mounted server 101 sends the track key points to the rear vehicle communication equipment through the front vehicle communication equipment, so that the rear vehicle-mounted server performs curve fitting according to the track key points to obtain a front vehicle historical track curve, obtains position and course information of the rear vehicle, performs curve fitting according to any point on the front vehicle historical track curve to obtain a motion planning curve, and controls the rear vehicle according to the motion planning curve and the front vehicle historical track curve after any point, so that the rear vehicle runs according to the motion planning curve and the front vehicle historical track curve after any point.

In an embodiment, the front vehicle-mounted server 101 may specifically:

and obtaining the coordinate information, the speed information, the acceleration information, the course information, the steering wheel state information and the vehicle lamp state information of the front vehicle in real time according to the preset sampling frequency to form sampling points corresponding to each sampling moment.

In an embodiment, the front vehicle-mounted server 101 may further include:

Traversing the driving track of the front vehicle behind the first track key point according to the driving direction of the front vehicle to obtain a second track key point; the first track key point and the second track key point meet a first condition, or when the first track key point and the second track key point do not meet the first condition, a second condition is met; wherein the first condition is: the first track key point and the second track key point are on the same circle, the course of the first track key point and the course of the second track key point are tangential directions of the circle, the first track key point and the second track key point are connected, a chord and an arc between the first track key point and the second track key point are obtained, the maximum difference E of vertical distances between the chord and the arc is determined, and the E is more than or equal to a preset vertical distance threshold value E _ th; the second condition is: and the distance D between the first track key point and the second track key point is greater than or equal to a preset distance threshold value D _ th.

In one embodiment, the leading vehicle communication device 102 may be a V2X communication device.

In addition, in an embodiment, as shown in fig. 6, the present embodiment further provides a vehicle 202 (i.e. the rear vehicle 202 in the system 10 described above), where the vehicle 202 includes a rear vehicle-mounted server 103 and a rear vehicle communication device 104, and the rear vehicle-mounted server 103 is connected to the rear vehicle communication device 104. The vehicle 202 follows a preceding vehicle 201, the preceding vehicle 201 includes a preceding vehicle-mounted server 101 and a preceding vehicle communication device 102, the preceding vehicle-mounted server 101 and the preceding vehicle communication device 102 are connected, and the following vehicle communication device 104 and the preceding vehicle communication device 102 are capable of communicating.

The rear vehicle-mounted server 103 receives the track key points sent by the front vehicle-mounted server 101 through the front vehicle communication equipment 102 through the rear vehicle communication equipment 104; the track key point is obtained by acquiring the driving track of the front vehicle-mounted server and extracting the driving track according to the driving track of the front vehicle.

In one embodiment, the rear vehicle communication device 104 may be a V2X communication device.

In addition, in an embodiment, the rear vehicle-mounted server 103 may specifically:

and obtaining a fitting curve between each two adjacent track key points by adopting a spline curve fitting method, a Bezier curve fitting method or a fifth-order polynomial curve fitting method according to each track key point.

and obtaining a preset minimum planning distance.

and determining the steering wheel rotation angle control quantity of the rear vehicle by adopting a pure tracking algorithm, a linear quadratic regulator algorithm or a PID (proportion integration differentiation) controller algorithm according to the motion planning curve and the historical track curve of the front vehicle behind any point.

In addition, in an embodiment, the present application further provides a computer-readable storage medium, on which a computer program is stored, for use in the following control system of the above-mentioned autonomous vehicle fleet, the system including a front vehicle-mounted server, a front vehicle communication device, a rear vehicle-mounted server, and a rear vehicle communication device; the front vehicle-mounted server is connected with the front vehicle communication equipment, the rear vehicle-mounted server is connected with the rear vehicle communication equipment, and the front vehicle communication equipment and the rear vehicle communication equipment can communicate.

When executed by a processor, the program implements the following control method for the autonomous vehicle fleet described in steps 401 to 402 above.

In addition, in an embodiment, the present application further provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and is applied to the following control system of the automatic driving fleet, where the system includes a front vehicle-mounted server, a front vehicle communication device, a rear vehicle-mounted server, and a rear vehicle communication device; the front vehicle-mounted server is connected with the front vehicle communication equipment, the rear vehicle-mounted server is connected with the rear vehicle communication equipment, and the front vehicle communication equipment and the rear vehicle communication equipment can communicate.

When the processor executes the program, the following control method of the automatic driving fleet described in the above steps 401 to 402 is implemented.

The program, when executed by a processor, implements the following control method for an autonomous vehicle fleet described in steps 501 through 504.

When the processor executes the program, the following control method of the automatic driving fleet described in step 501 to step 504 is realized.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

The principle and the implementation mode of the present application are explained by applying specific embodiments in the present application, and the description of the above embodiments is only used to help understanding the method and the core idea of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims

1. A car following control system of an automatic driving motorcade is characterized by comprising a front car-mounted server, a front car communication device, a rear car-mounted server and a rear car communication device; the front vehicle-mounted server is connected with the front vehicle communication equipment, the rear vehicle-mounted server is connected with the rear vehicle communication equipment, and the front vehicle communication equipment and the rear vehicle communication equipment can communicate;

2. The follow-up control system of an autonomous vehicle fleet according to claim 1, wherein the front onboard server is specifically configured to:

according to a preset sampling frequency, acquiring coordinate information, speed information, acceleration information, course information, steering wheel state information and vehicle lamp state information of a front vehicle in real time to form sampling points corresponding to each sampling moment;

3. The follow-up control system of an autonomous vehicle fleet according to claim 2, wherein the front onboard server is further configured to:

obtaining a first point in the driving track of the front vehicle as a first track key point;

traversing the driving track of the front vehicle behind the first track key point according to the driving direction of the front vehicle to obtain a second track key point; the first track key point and the second track key point meet a first condition, or when the first track key point and the second track key point do not meet the first condition, a second condition is met; wherein the first condition is: the method comprises the steps that a first track key point and a second track key point are on the same circle, the course of the first track key point and the course of the second track key point are tangential directions of the circle, the first track key point and the second track key point are connected, a chord and an arc between the first track key point and the second track key point are obtained, the maximum value E of the vertical distance between the chord and the arc is determined, and the E is larger than or equal to a preset vertical distance threshold value E _ th; the second condition is: the distance D between the first track key point and the second track key point is greater than or equal to a preset distance threshold value D _ th;

updating the second track key point to be the first track key point, and returning to the step of traversing the front vehicle running track behind the first track key point according to the front vehicle running direction to obtain a second track key point;

taking the last point obtained by traversing the driving track of the front vehicle behind the first track key point as a second track key point; the last point is a sampling point corresponding to the current sampling moment;

4. The autonomous vehicle fleet following control system according to claim 1, wherein said front vehicle communication device and said rear vehicle communication device are V2X communication devices.

5. The autonomous vehicle fleet following control system according to claim 1, wherein said rear onboard server is specifically configured to:

according to each track key point, a spline curve fitting method, a Bezier curve fitting method or a fifth-order polynomial curve fitting method is adopted to obtain a fitting curve between each two adjacent track key points;

carrying out interpolation according to the fitting curve to obtain intermediate point information between each two adjacent track key points;

and obtaining a previous vehicle historical track curve according to the key points of each two adjacent tracks and the intermediate point information.

6. The autonomous vehicle fleet following control system according to claim 1, wherein said rear onboard server is specifically configured to:

obtaining a preset minimum planning distance;

obtaining the position and the course information of a rear vehicle, and selecting at least two adjacent track key points from the track key points according to the position and the course information of the rear vehicle, so that the positions of the at least two adjacent track key points to the rear vehicle are larger than or equal to the preset minimum planning distance;

according to the at least two adjacent track key points, a spline curve fitting method, a Bezier curve fitting method or a fifth-order polynomial curve fitting method is adopted to obtain a fitting curve between each two adjacent track key points;

7. The autonomous vehicle fleet following control system according to claim 1, wherein said rear onboard server is specifically configured to:

8. The autonomous vehicle fleet following control system according to claim 1, wherein said rear onboard server is specifically configured to:

determining steering wheel rotation angle control quantity of the rear vehicle by adopting a pure tracking algorithm, a linear secondary regulator algorithm or a PID (proportion integration differentiation) controller algorithm according to the motion planning curve and the previous vehicle historical track curve behind any point;

and outputting the steering wheel angle control quantity to an actuating mechanism of the rear vehicle to transversely control the rear vehicle, so that the rear vehicle runs according to the motion planning curve and the historical track curve of the front vehicle behind any point.

9. A car following control method of an automatic driving motorcade is characterized in that the car following control method is applied to a car following control system of the automatic driving motorcade, and the system comprises a front car-mounted server, a front car communication device, a rear car-mounted server and a rear car communication device; the front vehicle-mounted server is connected with the front vehicle communication equipment, the rear vehicle-mounted server is connected with the rear vehicle communication equipment, and the front vehicle communication equipment and the rear vehicle communication equipment can communicate;

the method comprises the following steps:

10. The method of claim 9, wherein the obtaining the previous vehicle driving track of the server on the vehicle comprises:

11. The method of claim 10, wherein extracting key points of a trajectory from a driving trajectory of a preceding vehicle comprises:

12. A car following control method of an automatic driving motorcade is characterized in that the car following control method is applied to a car following control system of the automatic driving motorcade, and the system comprises a front car-mounted server, a front car communication device, a rear car-mounted server and a rear car communication device; the front vehicle-mounted server is connected with the front vehicle communication equipment, the rear vehicle-mounted server is connected with the rear vehicle communication equipment, and the front vehicle communication equipment and the rear vehicle communication equipment can communicate;

the method comprises the following steps:

13. The method of claim 12, wherein the step of performing curve fitting by the rear onboard server according to the key points of the trajectory to obtain a historical trajectory curve of the front vehicle comprises:

the vehicle-mounted server of the rear vehicle obtains a fitting curve between each two adjacent track key points by adopting a spline curve fitting method, a Bezier curve fitting method or a fifth-order polynomial curve fitting method according to each track key point;

14. The method of claim 12, wherein the step of performing curve fitting by the rear onboard server according to the key points of the trajectory to obtain a historical trajectory curve of the front vehicle comprises:

the rear vehicle-mounted server obtains a preset minimum planning distance;

15. The method of claim 12, wherein the step of performing curve fitting according to any point on the historical trajectory curve of the leading vehicle to obtain a motion planning curve comprises:

16. The method as claimed in claim 12, wherein the step of controlling the following vehicle by the server on board the following vehicle according to the motion planning curve and the historical trajectory curve of the preceding vehicle after any point, so that the following vehicle runs according to the motion planning curve and the historical trajectory curve of the preceding vehicle after any point, comprises:

the rear vehicle-mounted server determines the steering wheel turning angle control quantity of the rear vehicle by adopting a pure tracking algorithm, a linear quadratic regulator algorithm or a PID (proportion integration differentiation) controller algorithm according to the motion planning curve and the historical track curve of the front vehicle behind any point;

17. A vehicle is characterized by comprising a front vehicle-mounted server and a front vehicle communication device, wherein the front vehicle-mounted server is connected with the front vehicle communication device; a rear vehicle follows the rear side of the vehicle, the rear vehicle comprises a rear vehicle-mounted server and rear vehicle communication equipment, the rear vehicle-mounted server is connected with the rear vehicle communication equipment, and the front vehicle communication equipment and the rear vehicle communication equipment can communicate;

18. The vehicle of claim 17, wherein the front onboard vehicle server is specifically configured to:

19. The vehicle of claim 18, wherein the front onboard vehicle server is further configured to:

20. The vehicle of claim 17, characterized in that the preceding vehicle communication device is a V2X communication device.

21. A vehicle is characterized by comprising a rear vehicle-mounted server and a rear vehicle communication device, wherein the rear vehicle-mounted server is connected with the rear vehicle communication device; the vehicle follows behind a front vehicle, the front vehicle comprises a front vehicle-mounted server and front vehicle communication equipment, the front vehicle-mounted server is connected with the front vehicle communication equipment, and the rear vehicle communication equipment can communicate with the front vehicle communication equipment;

22. The vehicle of claim 21, characterized in that the rear vehicle communication device is a V2X communication device.

23. The vehicle of claim 21, wherein the rear onboard server is specifically configured to:

24. The vehicle of claim 21, wherein the rear onboard server is specifically configured to:

obtaining a preset minimum planning distance;

25. The vehicle of claim 21, wherein the rear onboard server is specifically configured to:

26. The vehicle of claim 21, wherein the rear onboard server is specifically configured to:

27. A computer-readable storage medium having stored thereon a computer program, characterized by being applied to a following control system of an autonomous driving fleet, the system comprising a front vehicle-mounted server, a front vehicle communication device, a rear vehicle-mounted server, and a rear vehicle communication device; the front vehicle-mounted server is connected with the front vehicle communication equipment, the rear vehicle-mounted server is connected with the rear vehicle communication equipment, and the front vehicle communication equipment and the rear vehicle communication equipment can communicate;

the program, when executed by a processor, implements the method of follow-up control for an autonomous vehicle fleet according to any of claims 9 to 11.

28. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that it is applied to a following control system of an autonomous driving vehicle fleet, the system comprising a front vehicle-mounted server, a front vehicle communication device, a rear vehicle-mounted server and a rear vehicle communication device; the front vehicle-mounted server is connected with the front vehicle communication equipment, the rear vehicle-mounted server is connected with the rear vehicle communication equipment, and the front vehicle communication equipment and the rear vehicle communication equipment can communicate;

the processor, when executing the program, implements the follow-up control method of an autonomous vehicle fleet according to any one of claims 9 to 11.

29. A computer-readable storage medium having stored thereon a computer program, characterized by being applied to a following control system of an autonomous driving fleet, the system comprising a front vehicle-mounted server, a front vehicle communication device, a rear vehicle-mounted server, and a rear vehicle communication device; the front vehicle-mounted server is connected with the front vehicle communication equipment, the rear vehicle-mounted server is connected with the rear vehicle communication equipment, and the front vehicle communication equipment and the rear vehicle communication equipment can communicate;

the program, when executed by a processor, implements the method of follow-up control for an autonomous vehicle fleet according to any one of claims 12 to 16.

30. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that it is applied to a following control system of an autonomous driving vehicle fleet, the system comprising a front vehicle-mounted server, a front vehicle communication device, a rear vehicle-mounted server and a rear vehicle communication device; the front vehicle-mounted server is connected with the front vehicle communication equipment, the rear vehicle-mounted server is connected with the rear vehicle communication equipment, and the front vehicle communication equipment and the rear vehicle communication equipment can communicate;

the processor, when executing the program, implements the follow-up control method of an autonomous vehicle fleet according to any one of claims 12 to 16.