CN112987730B - Autonomous following navigation vehicle and autonomous following navigation method for vehicle - Google Patents
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Abstract
The invention discloses an autonomous following navigation vehicle and an autonomous following navigation method for the vehicle, relates to the technical field of vehicle navigation, and is used for guaranteeing the automatic following function of the autonomous navigation vehicle and the driving safety of the autonomous navigation vehicle. The autonomous following navigation vehicle includes: the vehicle comprises a controller, a vehicle body, a first pull wire sensor and a second pull wire sensor, wherein the first pull wire sensor and the second pull wire sensor are communicated with the controller. Wherein, first stay wire sensor and second stay wire sensor interval set up at the vehicle body front end, and all are connected with the target follower. The first pull wire sensor is used for acquiring a first distance A between the front end of the vehicle body and the target follower. The second stay wire sensor is used for acquiring a second distance B between the front end of the vehicle body and the target follower. The target follower is provided with a first connecting point connected with the first pull line sensor and a second connecting point connected with the second pull line sensor. The vehicle autonomous following navigation method is used for controlling the automatic following navigation vehicle to autonomously follow the target follower to move.
Description
Technical Field
The invention relates to the technical field of vehicle navigation, in particular to an autonomous following navigation vehicle and an autonomous following navigation method of the vehicle.
Background
At present, a vision sensor and a radar are two kinds of acquisition equipment commonly used by an autonomous navigation vehicle in an autonomous navigation process. The visual sensor, which is a passive sensor, acquires a large amount of information, but the information acquired by the visual sensor cannot directly acquire information such as the relative position and the traveling direction of the vehicle. In general, the information acquired by the vision sensor needs to be processed again by a thinning means such as feature extraction, so as to acquire the required information. The radar as an active sensor can more directly reflect information such as relative position and driving direction of a vehicle relative to a vision sensor by using the acquired data. However, the radar has the disadvantages of high cost and great influence by the surrounding environment.
Disclosure of Invention
The invention aims to provide an autonomous following navigation vehicle and an autonomous following navigation method for the vehicle, which are used for guaranteeing the automatic following function of the autonomous navigation vehicle and the driving safety of the autonomous navigation vehicle.
In a first aspect, the present invention provides an autonomous following navigation vehicle comprising: the vehicle comprises a controller, a vehicle body, and a first pull wire sensor and a second pull wire sensor which are communicated with the controller. Wherein, first stay wire sensor and second stay wire sensor interval set up at the vehicle body front end, and all are connected with the target follower.
The first pull wire sensor is used for acquiring a first distance A between the front end of the vehicle body and the target follower. The second stay wire sensor is used for acquiring a second distance B between the front end of the vehicle body and the target follower. The target follower is provided with a first connecting point connected with the first pull line sensor and a second connecting point connected with the second pull line sensor.
The controller is used for calculating the motion parameters of the target follower according to the first distance A, the second distance B, the third distance E between the first pull line sensor and the second pull line sensor and the fourth distance D between the first connecting point and the second connecting point, and controlling the motion parameters of the vehicle body according to the motion parameters of the target follower; wherein the fourth distance D is greater than or equal to 0 and less than the third distance E.
Under the condition of adopting the technical scheme, the autonomous following navigation vehicle comprises a controller, a vehicle body, a first pull wire sensor and a second pull wire sensor, wherein the first pull wire sensor and the second pull wire sensor are communicated with the controller. Wherein, first stay wire sensor and second stay wire sensor interval set up at the vehicle body front end, and all are connected with the target follower. The target follower is provided with a first connecting point connected with the first pull line sensor and a second connecting point connected with the second pull line sensor. In the process that the automatic navigation vehicle follows the target follower, the first pull wire sensor can acquire a first distance A between the front end of the vehicle body and the target follower, and the second pull wire sensor can acquire a second distance B between the front end of the vehicle body and the target follower. The controller calculates the motion parameters of the target follower according to the first distance A, the second distance B, the third distance E between the first pull line sensor and the second pull line sensor and the fourth distance D between the first connecting point and the second connecting point, and controls the motion parameters of the vehicle body according to the motion parameters of the target follower; wherein the fourth distance D is greater than or equal to 0 and less than the third distance E.
Therefore, the autonomous following navigation vehicle can calculate the motion parameter of the target following object only by using the first distance A and the second distance B acquired by the first pull wire sensor, the third distance E between the first pull wire sensor and the second pull wire sensor and the fourth distance D between the first connecting point and the second connecting point. And then according to the motion parameter of the target follower, the motion parameter of the vehicle body is controlled, so that the autonomous following navigation vehicle can autonomously follow the motion trail of the target follower to move. Compared with the prior art that the radar and the vision sensor are matched with each other for navigation, the stay wire sensor adopted in the autonomous following navigation vehicle provided by the invention has the advantages of high measurement precision, low cost, strong interaction with a target follower, strong anti-interference performance and wide application range, thereby being capable of adapting to a severe environment.
In a second aspect, the invention provides a vehicle autonomous following navigation method. The autonomous following navigation vehicle includes: the vehicle body, first stay wire sensor and second stay wire sensor. The first pull wire sensor and the second pull wire sensor are arranged at the front end of the vehicle body at intervals and are connected with the target follower.
The target follower is provided with a first connecting point connected with the first pull line sensor and a second connecting point connected with the second pull line sensor.
The vehicle autonomous following navigation method comprises the following steps:
receiving a first distance A between the front end of the autonomous following navigation vehicle and a target follower sent by a first pull sensor and a second distance B between the front end of the autonomous following navigation vehicle and the target follower sent by a second pull sensor;
calculating the motion parameter of the target follower according to the first distance A, the second distance B, the third distance E between the first pull line sensor and the second pull line sensor and the fourth distance D between the first connecting point and the second connecting point, and controlling the motion parameter of the vehicle body according to the motion parameter of the target follower; wherein the fourth distance D is greater than or equal to 0 and less than the third distance E.
The beneficial effects of the vehicle autonomous following navigation method provided by the second aspect of the present invention are the same as those of the autonomous following navigation vehicle described in the first aspect, and are not described herein again.
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The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a first diagram illustrating a positional relationship between an autonomous following navigation vehicle and a target follower according to an embodiment of the present invention;
FIG. 2 is a second diagram illustrating a position relationship between an autonomous following navigation vehicle and a target follower according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram illustrating the determination of a motion parameter of a target follower in an embodiment of the present invention.
Detailed Description
In order to facilitate clear description of technical solutions of the embodiments of the present invention, in the embodiments of the present invention, terms such as "first" and "second" are used to distinguish the same items or similar items having substantially the same functions and actions. For example, the first threshold and the second threshold are only used for distinguishing different thresholds, and the sequence order of the thresholds is not limited. Those skilled in the art will appreciate that the terms "first," "second," etc. do not denote any order or quantity, nor do the terms "first," "second," etc. denote any order or importance.
It is to be understood that the terms "exemplary" or "such as" are used herein to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.
In the present invention, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated object, indicating that there may be three relationships, for example, a and/or B, which may indicate: a exists alone, A and B exist simultaneously, and B exists alone, wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of the singular or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, a and b combination, a and c combination, b and c combination, or a, b and c combination, wherein a, b and c can be single or multiple.
In the related art, the sensor arrangement adopted by the environment sensing part of the autonomous navigation vehicle presents different forms. In some cases, the autonomous navigation vehicle is radar-based and the vision sensor is secondary. In other cases, the autonomous navigation vehicle is primarily a vision sensor and secondarily a radar. In still other cases, the vision sensor and radar are present in the same proportion in an autonomous navigation vehicle.
Generally, a navigation map is provided in the autonomous navigation vehicle. The autonomous navigation vehicle can autonomously reach a terminal point from a starting point under the common coordination of a navigation map, a vision sensor, a radar and other related sensors. That is to say, the autonomous navigation vehicle does not need to follow the guidance of the target object in the navigation process, and the autonomous navigation vehicle can autonomously plan the driving path according to the starting point and the end point. Meanwhile, the road condition information is collected through the related sensors, and the autonomous navigation vehicle can avoid obstacles and successfully reach a destination.
However, in practical applications, the autonomous navigation vehicle may need to perform autonomous movement under the guidance of the target follower. That is, the autonomous navigation vehicle needs to refer to the motion trajectory of the target follower during autonomous navigation.
In order to solve the technical problem, an embodiment of the invention provides an autonomous following navigation vehicle. Fig. 1 illustrates a schematic structural diagram of a first pull sensor and a target follower with two connection points therebetween, and fig. 2 illustrates a schematic structural diagram of the first pull sensor and the target follower with the two connection points coinciding with each other. Referring to fig. 1, the autonomous following navigation vehicle includes: the control system comprises a controller, a vehicle body, a first pull wire sensor 1 and a second pull wire sensor 2 which are communicated with the controller. The first stay wire sensor 1 and the second stay wire sensor 2 are arranged at the front end of the vehicle body at intervals and are connected with the target follower. The target follower is provided with a first connecting point 4 connected with the first pull sensor 1 and a second connecting point 5 connected with the second pull sensor 2. Under the cooperation of the first pull wire sensor 1 and the second pull wire sensor 2, the controller is used for calculating the motion parameters of the target following object and controlling the motion parameters of the vehicle body according to the motion parameters of the target following object.
The motion parameters of the vehicle body may include a driving speed and a driving direction of the vehicle body. The vehicle body may be a vehicle body in a broad sense, and may be a two-wheel vehicle, a three-wheel vehicle, or a four-wheel vehicle, but is not limited thereto. The vehicle body may include at least a powertrain, which may be an electric machine. It should be understood that the controller controls the motion parameters of the vehicle body according to the motion parameters of the target follower, which means that the controller can control the speed and the motion direction of the autonomous following navigation vehicle according to the motion parameters of the target follower, but is not limited thereto.
The first and second pull wire sensors 1 and 2 may be located on the same plane W. The first pull sensor 1 has a first pull connected to the target follower, the second pull sensor 2 has a second pull connected to the target follower, and a pull parameter of the first pull may be the same as a pull parameter of the second pull. Namely, the first stay wire and the second stay wire have the same length and are made of the same material. For example: the first stay wire and the second stay wire can be stainless steel ropes with equal length. Meanwhile, the data frequency of the first pull wire sensor 1 is the same as the data frequency of the second pull wire sensor 2, the measurement accuracy of the first pull wire sensor 1 is the same as the measurement accuracy of the second pull wire sensor 2, and the tension of the first pull wire sensor 1 is the same as the tension of the second pull wire sensor 2. That is, the first and second pull wire sensors 1 and 2 may be two identical pull wire sensors.
In practical applications, the target follower may be a person or a vehicle. The first pull sensor 1 may be connected to the target follower through a first pull wire, and the second pull sensor 2 may be connected to the target follower through a second pull wire. The first stay wire sensor 1 can be used for acquiring a first distance a between the front end of the vehicle body and the target follower. The second pull wire sensor 2 may be used to acquire a second distance B between the front end of the vehicle body and the target follower. The controller can be used for calculating the motion parameters of the target follower according to the first distance A, the second distance B, the third distance C between the first pull line sensor and the second pull line sensor and the fourth distance D between the first connecting point 4 and the second connecting point 5, and controlling the motion parameters of the vehicle body according to the motion parameters of the target follower.
Therefore, the autonomous following navigation vehicle can calculate the motion parameter of the target following object only by using the first distance a and the second distance B acquired by the first pull-wire sensor, the third distance C between the first pull-wire sensor and the second pull-wire sensor, and the fourth distance D between the first connecting point 4 and the second connecting point 5. And then according to the motion parameter of the target follower, the motion parameter of the vehicle body is controlled, so that the autonomous following navigation vehicle can autonomously follow the motion trail of the target follower to move. Meanwhile, compared with the prior art that the navigation is carried out by mutually matching the radar and the vision sensor, the stay wire sensor adopted in the autonomous following navigation vehicle provided by the invention has the advantages of high measurement precision, low cost, strong interaction with a target follower, strong anti-interference performance and wide application range, thereby being capable of adapting to a severe environment.
In some examples, the motion parameters of the target follower may include: droop between target follower and vehicle bodySpeed of change D of straight distance DIS, horizontal distance OFF, vertical distance DIS i And the speed of change R of the horizontal distance OFF i 。
It should be understood that the above-mentioned vertical distance DIS is a distance between the vehicle body and the target follower in the forward direction of the automatic navigation vehicle. The horizontal distance OFF is a distance between the vehicle body and the target follower in a direction perpendicular to the traveling direction of the automatic guided vehicle.
FIG. 3 illustrates a schematic diagram of a configuration for determining a motion parameter of a target follower. Referring to fig. 3, the vertical distance DIS, the horizontal distance OFF between the target follower and the vehicle body may be calculated by:
first, a plane W needs to be determined. The plane W may be a plane having the same vertical height as the first pull sensor 1 and parallel to the horizontal plane. Meanwhile, the distance AW of a line segment passing through the projection of the first stay wire sensor 1 and the target follower on the plane W is determined to satisfy:
similarly, the distance BW of the line segment passing through the projection of the second pull sensor 2 and the target follower on the plane W may satisfy:
where H may be the perpendicular distance between the target follower and the plane W.
Referring to fig. 1 and 2, a distance of a projection line segment passing through the first connection point 4 and the second connection point 5 on the plane W is DW. The distance between the projection line segment on the plane W passing through the first stay wire sensor 1 and the second stay wire sensor 2 is EW. DW is greater than or equal to 0 and less than EW. When the DW length is equal to 0, the first connection point 4 coincides with the second connection point 5, that is, the first pull-wire sensor 1 and the second pull-wire sensor 2 may be connected to the same connection point on the target follower. When the DW is greater than 0 and smaller than EW, the first connection point 4 and the second connection point 5 are separated by a certain distance, that is, the first pull sensor 1 and the second pull sensor 2 are respectively disposed at different positions of the target follower. It should be understood that when the first connection point 4 and the second connection point 5 are disposed at intervals, the first connection point 4 and the second connection point 5 are on the same horizontal line.
Referring to fig. 3, angle α is the angle between a line segment at distance AW and a line segment at distance EW. The angle β is the angle between the line segment with distance BW and the line segment with distance EW. The included angle alpha can satisfy:
the included angle beta can satisfy the following conditions:
referring to fig. 3, when the included angle α is greater than or equal to the included angle β, the perpendicular distance DIS may satisfy:
DIS＝AW×sinβ，
when the included angle α is smaller than the included angle β, the perpendicular distance DIS may satisfy:
DIS＝BW×sinα。
the speed D of change of the vertical distance DIS i Can satisfy the following conditions:
wherein i is data obtained in the ith period, f is a positive integer greater than 1, and Δ t is a period for providing data by the first pull sensor 1 and the second pull sensor 2.
Referring to fig. 3, when the included angle α is less than or equal to 90 °, and the included angle β is less than or equal to 90 °, the horizontal distance OFF may satisfy:
OFF＝0.5×(EW-DW)-BW×cosα,
when the angle β is greater than or equal to 90 °, the horizontal distance OFF may satisfy:
OFF＝-0.5×(EW-DW)-AW×sin(β-90),
when the angle α is greater than 90 °, the horizontal distance OFF may satisfy:
OFF＝0.5×(EW-DW)+BW×sin(α-90)。
the speed of change R of the horizontal distance OFF i Can satisfy the following conditions:
wherein i is data obtained in the ith period, f is a positive integer greater than 1, and Δ t is a period for providing data by the first pull sensor 1 and the second pull sensor 2.
In practical applications, when the value of the horizontal distance OFF is a positive value, it indicates that the target follower is located on the right side of the vehicle body. That is, the vehicle body needs to turn to the right. When the value of the horizontal distance OFF is a negative value, it indicates that the target follower is located on the left side of the vehicle body. That is, the vehicle body needs to turn left.
Through the calculation process, the change speed D of the vertical distance DIS, the horizontal distance OFF and the vertical distance DIS between the vehicle body and the target following object can be obtained i And the speed of change R of the horizontal distance OFF i . By the vertical distance DIS, horizontal distance OFF, and the change speed D of the vertical distance DIS between the vehicle body and the target following object i And the speed of change R of the horizontal distance OFF i The controller may determine a travel speed of the autonomous following navigation vehicle in the process of autonomously following the target follower, and adjust the travel speed to avoid the autonomous following navigation vehicle colliding with the target follower in the process of following the movement of the target follower. For example: when the vertical distance DIS between the vehicle body and the target follower is smaller than the safe distance, the controller controls the autonomous following navigation vehicle to decelerate until the autonomous following navigation vehicle stops moving. The safe distance here is the minimum distance to avoid a collision of the autonomous following navigation vehicle with the target follower. The safety distance can be set according to the actual situation, and is not used hereAnd (4) limiting.
At the same time, the horizontal distance OFF between the vehicle body and the target follower and the variation speed R of the horizontal distance OFF i The controller may determine a direction of travel of the autonomous following navigation vehicle. For example: speed of change R by horizontal distance OFF and horizontal distance OFF between vehicle body and target follower i The controller can control the autonomous following navigation vehicle to turn, so that the driving direction of the autonomous following navigation vehicle is changed.
In summary, the controller may control the motion parameter of the vehicle body according to the motion parameter of the target follower, so as to determine the driving path and the driving speed of the self-care navigation vehicle.
The embodiment of the invention also provides a vehicle autonomous following navigation method, which is used for ensuring the automatic following function of the autonomous following navigation vehicle and the driving safety of the autonomous following navigation vehicle. The autonomous following navigation vehicle includes: the controller and the first guy wire sensor 1 and the second guy wire sensor 2 which are communicated with the controller. The first stay wire sensor 1 and the second stay wire sensor 2 are arranged at the front end of the autonomous following navigation vehicle at intervals and are connected with a target following object.
The target follower is provided with a first connecting point 4 connected with the first pull sensor 1 and a second connecting point 5 connected with the second pull sensor 2.
The vehicle autonomous following navigation method may include:
step S101: the controller receives a first distance A between the front end of the vehicle body and the target follower sent by the first pull wire sensor 1 and a second distance B between the front end of the vehicle body and the target follower sent by the second pull wire sensor 2;
step S201: the controller calculates the motion parameters of the target follower according to the first distance A, the second distance B, the third distance C between the first pull wire sensor and the second pull wire sensor and the fourth distance D between the first connecting point 4 and the second connecting point 5, and controls the motion parameters of the vehicle body according to the motion parameters of the target follower; wherein the fourth distance D is greater than or equal to 0 and less than the third distance E.
The beneficial effects of the vehicle autonomous following navigation method provided by the embodiment of the invention are the same as those of the autonomous following navigation vehicle, and the detailed description is omitted here.
While the invention has been described in connection with various embodiments, other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed invention, from a review of the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the word "a" or "an" does not exclude a plurality. A single processor or other unit may fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.
While the invention has been described in conjunction with specific features and embodiments thereof, it will be evident that various modifications and combinations can be made thereto without departing from the spirit and scope of the invention. Accordingly, the specification and figures are merely exemplary of the invention as defined in the appended claims and are intended to cover any and all modifications, variations, combinations, or equivalents within the scope of the invention. It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (8)
1. An autonomous following navigation vehicle, comprising: the system comprises a controller, a vehicle body, a first pull wire sensor and a second pull wire sensor, wherein the first pull wire sensor and the second pull wire sensor are communicated with the controller; the first pull wire sensor and the second pull wire sensor are arranged at the front end of the vehicle body at intervals and are connected with a target follower;
the first pull wire sensor is used for acquiring a first distance A between the front end of the vehicle body and the target follower; the second stay wire sensor is used for acquiring a second distance B between the front end of the vehicle body and the target follower; the target follower is provided with a first connecting point connected with the first pull wire sensor and a second connecting point connected with the second pull wire sensor;
the controller is used for calculating a motion parameter of the target follower according to the first distance A, the second distance B, a third distance E between the first pull line sensor and the second pull line sensor and a fourth distance D between the first connecting point and the second connecting point, and controlling the motion parameter of the vehicle body according to the motion parameter of the target follower; wherein the fourth distance D is greater than or equal to 0 and less than the third distance E;
the motion parameters of the target follower include: vertical distance DIS between the target follower and the vehicle body, horizontal distance OFF, and change speed D of the vertical distance DIS i And the speed of change R of the horizontal distance OFF i ；
When the included angle alpha is larger than or equal to the included angle beta, the vertical distance DIS satisfies the following condition:
DIS＝AW×sinα
when the included angle α is smaller than the included angle β, the perpendicular distance DIS satisfies:
DIS＝BW×sinβ
wherein AW is the distance of a line segment passing through the projection of the first stay wire sensor and the first connecting point on a plane W; the BW is the distance of a line segment passing through the projection of the second stay wire sensor and the second connection point on a plane W;
the distance of a projection line segment passing through the first connecting point and the second connecting point on the plane W is DW; the distance of a projection line segment passing through the first stay wire sensor and the second stay wire sensor on a plane W is EW; the DW is greater than or equal to 0 and less than EW;
the included angle alpha is an included angle between a line segment with the distance AW and a line segment with the distance EW; the included angle beta is an included angle between a line segment with the distance BW and a line segment with the distance EW;
the plane W is the plane which has the same vertical height as the first stay wire sensor and is parallel to the horizontal plane.
2. The autonomous following navigation vehicle of claim 1, wherein the included angle α satisfies:
the included angle beta satisfies:
3. the autonomous following navigation vehicle according to claim 1, characterized in that when the angle α is less than or equal to 90 °, and the angle β is less than or equal to 90 °, the horizontal distance OFF satisfies:
OFF＝0.5×(EW-DW)-BW×cosα,
when the angle β is greater than or equal to 90 °, the horizontal distance OFF satisfies:
OFF＝-0.5×(EW-DW)-AW×sin(β-90),
when the included angle α is greater than 90 °, the horizontal distance OFF satisfies:
OFF＝0.5×(EW-DW)+BW×sin(α-90)。
4. the autonomous following navigation vehicle according to any of claims 1 to 3, characterized in that the line segment of distance AW satisfies:
wherein H is a perpendicular distance between the target follower and the plane W.
5. The autonomous following navigation vehicle according to any of claims 1 to 3, characterized in that the line segment with distance BW satisfies:
wherein H is a perpendicular distance between the target follower and the plane W.
6. The autonomous following navigation vehicle according to any of claims 1 to 3, wherein the speed D of change of the vertical distance DIS is set to i Satisfies the following conditions:
speed of change R of the horizontal distance OFF i Satisfies the following conditions:
wherein i is the ith period, f is a positive integer greater than 1, and Δ t is the period for providing data by the first pull sensor and the second pull sensor.
7. The autonomous follow-up navigation vehicle according to any one of claims 1 to 3, wherein the first pull wire sensor has a first pull wire connected to the target follower, and the second pull wire sensor has a second pull wire connected to the target follower;
the data frequency of the first stay wire sensor is the same as that of the second stay wire sensor, the measurement precision of the first stay wire sensor is the same as that of the second stay wire sensor, and the stay wire parameters of the first stay wire are the same as those of the second stay wire; the first pull wire sensor and the second pull wire sensor are positioned on the same plane.
8. A vehicle autonomous following navigation method applied to the autonomous following navigation vehicle according to any one of claims 1 to 7, the vehicle autonomous following navigation method comprising:
receiving a first distance A between the front end of the vehicle body and a target follower sent by a first pull wire sensor and a second distance B between the front end of the vehicle body and the target follower sent by a second pull wire sensor;
calculating a motion parameter of the target follower according to the first distance A, the second distance B, a third distance E between the first pull line sensor and the second pull line sensor, and a fourth distance D between the first connecting point and the second connecting point, and controlling the motion parameter of the vehicle body according to the motion parameter of the target follower; wherein the fourth distance D is greater than or equal to 0 and less than the third distance E.
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