CN114924562B - Calculation method of track target point for vehicle formation - Google Patents
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention provides a calculation method of a track target point for vehicle formation, and belongs to the technical field of automobile control. The specific method adopts equipment taking an OBU of a V2V technology as a main and a data transmission radio station as an auxiliary; the OBU sends CAN message original data containing pilot vehicle pose information to the following vehicle, the following vehicle processes the pilot vehicle pose information into accurate continuous effective data through a series of data processing modes and logic judgment conditions, then the data are cached and operated, a track target point in the pilot vehicle track relative to the following vehicle is calculated in real time, and information corresponding to the target point is used as an important parameter for vehicle formation control; the data transmission radio station transmits serial data which also contains navigation vehicle pose information to the following vehicle, and the following vehicle judges and receives the data transmitted by the OBU or the data transmission radio station through a certain mechanism. The invention ensures the reliability of the received pilot vehicle data and the calculated track target point, and realizes the accurate following and formation control of the following vehicles.
Description
Technical Field
The invention relates to the technical field of automobile control, in particular to a calculation method of a track target point for vehicle formation.
Background
Intelligent traffic is the direction of future development of automobile technology, and along with rapid development of internet of vehicles and wide application of V2V communication technology and equipment, vehicle formation technology can be applied and popularized in many scenes in the future due to the characteristics of high efficiency, low cost and high intelligence.
Among them, the V2V-based pilot follower queuing algorithm is one of the reliable and efficient algorithms among many queuing algorithms. In the current technology, the OBU (On Board Unit) equipment based on V2V and the data transmission radio station are more common workshop communication equipment, and the equipment can send the pose information such as the positioning, the course angle, the vehicle speed and the steering wheel corner of the lead vehicle to the following vehicle in real time, and the following vehicle performs track planning or formation control after receiving the information. In the formation algorithm, the pose information of the pilot vehicle is particularly important and is the basis of the formation algorithm, so that the receiving and processing of the pilot vehicle pose information must be reliable and stable; the calculation of the target point relative to the following vehicle, namely the following point of the following vehicle, in the pilot vehicle track is also important, and the consistency, the integrity and the reliability of the pilot vehicle pose information corresponding to the target point are directly related to the accuracy of the following vehicle formation control. Therefore, it is necessary to design a reliable calculation method of the track target point to ensure the accuracy of the following vehicle formation control and avoid the problems of safety and the like caused by objective factors.
The Chinese patent publication No. CN 112572436A discloses a vehicle following control method and system, wherein the method comprises the following steps: acquiring a motion state sequence of a front vehicle; determining a tracking distance error of the controlled vehicle and the front vehicle and a speed error of the controlled vehicle and the front vehicle according to the motion state sequence of the front vehicle; determining the longitudinal target acceleration of the controlled vehicle according to the tracking distance error of the controlled vehicle and the front vehicle, the speed error of the controlled vehicle and the front vehicle and the longitudinal acceleration of the controlled vehicle; determining a tracking target point of the controlled vehicle according to the motion state sequence of the front vehicle; establishing a lateral dynamics equation of the controlled vehicle according to the tracking target point; determining an error model of the controlled vehicle according to a lateral dynamics equation of the controlled vehicle; and determining the steering wheel angle of the controlled vehicle according to the error model of the controlled vehicle. According to the control method, a motion state sequence acquisition module of the front vehicle is used for acquiring a motion state sequence of the front vehicle; the tracking target point determining module is used for determining a tracking target point of the controlled vehicle according to the motion state sequence of the front vehicle; and the motion state sequence acquisition unit is used for acquiring the motion state sequence of the front vehicle through V2X communication.
The patent above does not relate to a specific data transmission mode and a preprocessing mode for pilot vehicle pose information, lacks to judge the validity of pilot vehicle data, and is difficult to ensure that reliable track target points are obtained through calculation, and further is difficult to ensure the accuracy of following vehicle formation control.
Disclosure of Invention
To solve the above problems, the present invention provides a calculation method of a trajectory target point for vehicle formation.
The invention adopts the following technical scheme:
according to the practical application scene, the pose information of the pilot vehicle sent by the OBU to the following vehicle contains three frames of CAN messages according to the consideration of information precision, wherein the three frames of CAN messages contain important information such as the positioning, heading angle, vehicle speed and steering wheel angle of the pilot vehicle, each frame also contains the serial number of the current message, the range of the serial number values of the three frames of messages is the same, and the three frames of messages are sent at the same time in a certain period; the data transmission radio station is used as redundant equipment, and has the function of sending pose information of the lead vehicle to the following vehicle, and the data transmission radio station configured by the following vehicle sends the pose information of the lead vehicle through a serial port.
A calculation method for track target points for vehicle formation comprises the following specific steps:
(1) The OBU sends three frames of CAN message data containing pilot vehicle pose and serial numbers to the following vehicle;
(2) Judging whether three frames of CAN message data of the OBU are received or not;
(3) If three-frame CAN message data of the OBU are received, respectively placing pilot vehicle data and receiving time of the three-frame CAN message into corresponding two-dimensional arrays;
(4) Judging whether the data in the three two-dimensional arrays are three-frame CAN messages at the same time sent by the OBU, if so, entering the step (5);
(5) Judging whether the same group of original data sent by the OBU is valid or not, if so, entering a step (6);
(6) And judging the other two conditions: one is whether the speed of the pilot vehicle is not 0, and the other is whether the following vehicle enters a formation mode;
(7) If the two conditions in the step (6) are met, putting the group of effective data into the established queue 1;
(8) Judging whether the length of the queue 1 is greater than 0, if so, performing Euclidean distance operation, storing operation results into the queue 2 one by one, and performing minimum value operation on the queue 2 to obtain an index number of a minimum value;
(9) Taking out the pilot vehicle data stored in the queue 1 according to the index number, namely, obtaining a track target point;
the data transmission radio station transmits pilot vehicle data through a serial port in real time, and if the OBU data cannot be received for more than time t, the data transmission radio station is immediately switched to receive the serial port data sent by the data transmission radio station; when the OBU data is received again, the method is immediately switched to receiving CAN message data sent by the OBU.
In a preferred embodiment, the pilot vehicle pose information includes a position, a heading angle, a vehicle speed and a steering wheel angle of the pilot vehicle.
In a preferred embodiment, the first dimension of each two-dimensional array is used for storing pilot vehicle data in the received corresponding CAN message, and the second dimension is used for storing the time of the received current message.
In a preferred embodiment, after receiving the three frames of CAN messages sent by the OBU in the step (3), the OBU message flag bit obu_rflag is set to 1, and the timer count value obu_ncnt for calculating the duration of the non-received OBU message is set to 0.
In a preferred embodiment, the conditions that the data in the three two-dimensional arrays in the step (4) are three frames of CAN messages sent by the OBU at the same time are as follows: when any frame in the three-frame CAN message is received, the time data of the two-dimensional data in the corresponding three two-dimensional arrays are taken out according to the serial number in the frame message to respectively make difference values and take absolute values, and the absolute values are simultaneously smaller than 50 milliseconds.
In a preferred embodiment, the two conditions of whether the same set of raw data sent by the OBU in the step (5) is valid are: one is whether the longitude and latitude data in the group of values are not 0 at the same time; secondly, according to information acquired and calculated by a camera and a laser radar configured on the following vehicle, and by combining positioning data of the following vehicle, logic judgment is carried out to obtain whether longitude and latitude data of the pilot vehicle are within a reasonable range.
In a preferred embodiment, the step (8) sets the obu_rflag flag of the received OBU message to 0 before determining whether the length of the queue 1 is greater than 0.
In a preferred embodiment, the steps of applying the data station are as follows: after the OBU message flag bit obu_rflag is set to 0 in the step (8), a timer for calculating the duration of the non-received OBU message starts counting, when the count value obu_ncnt is greater than 300ms, the timer is immediately switched to receive serial port data sent by the data transmission station, and then the calculation is performed according to the above process, if the CAN data sent by the OBU is received again, the OBU message flag bit obu_rflag is set to 1, and the timer count value obu_ncnt for calculating the duration of the non-received OBU message is set to 0, so that the timer CAN be immediately switched to receive the CAN message data sent by the OBU.
From the above description of the invention, it is clear that the invention has the following advantages over the prior art:
1. according to the invention, through the equipment taking the OBU of the V2V technology as the main and taking the data radio station as the auxiliary, effective and accurate pose information of the pilot vehicle is obtained through a certain mechanism and algorithm, the information is combined and cached, then a track target point relative to the following vehicle in the track of the pilot vehicle is calculated in real time, and the information corresponding to the target point is used as an important parameter for vehicle formation control, so that the accurate following and formation control of the following vehicle are realized.
2. According to the invention, the OBU respectively establishes a two-dimensional array with the length of the maximum serial number according to three CAN messages sent in a certain period, wherein the first dimension is used for storing the pilot vehicle data in the received corresponding CAN messages, the second dimension is used for storing the time of the received current message, and only when the difference value between the time of the current messages in the elements with the same index in the three two-dimensional arrays is less than 50ms, the pilot vehicle data in the elements with the same index in the three two-dimensional arrays are respectively taken out to form a complete data group for further processing, so that the consistency, the integrity and the reliability of the received pilot vehicle data are ensured.
3. According to the invention, the information collected by the camera and the laser radar configured by the following vehicle is fused and logically judged, and the information is used as a basis for judging the validity of the received pilot vehicle data, and whether the pilot vehicle data need to be corrected or compensated is further judged according to the basis, so that inaccurate information received by the following vehicle due to pilot vehicle data drift and other reasons is avoided to a great extent.
4. The invention takes the data radio station equipment as a redundant mode to ensure the continuity, the integrity and the stability of information transmission of the pilot vehicle when data is lost due to OBU fault or other reasons.
5. The track target point calculation method adopts the Euclidean distance algorithm, and the calculation flow is simple, quick and reliable.
Drawings
Fig. 1 is a flowchart of a trajectory target point calculation method for vehicle formation of the present invention.
Detailed Description
Specific embodiments of the present invention will be described below with reference to the accompanying drawings. Numerous details are set forth in the following description in order to provide a thorough understanding of the present invention, but it will be apparent to one skilled in the art that the present invention may be practiced without these details. Well-known components, methods and procedures are not described in detail.
In the present embodiment, a track target point calculation method for vehicle formation, as shown in fig. 1, includes the following steps:
in this embodiment, the following vehicle uses the OBU device as a main unit and the data radio station as an auxiliary unit to receive the positioning, heading angle, speed and steering wheel corner pose information of the pilot vehicle, the OBU device sends pilot vehicle data through the CAN network, and the data radio station sends pilot vehicle data through the serial port.
The method comprises the steps that an OBU sends three-frame CAN messages containing gesture information such as positioning, heading angle, speed and steering wheel angle of a pilot vehicle, if the CAN messages sent by the OBU are received, pilot vehicle data and receiving time of the three-frame messages are respectively put into corresponding two-dimensional arrays according to serial numbers of the messages, the serial numbers of the three-frame messages are the same in size range, the length of the three two-dimensional arrays is the maximum value of the serial numbers of the messages, the first dimension of the three two-dimensional arrays is used for storing the received pilot vehicle data, and the second dimension is used for storing the time for receiving the messages; after receiving the CAN message sent by the OBU, receiving the OBU message flag bit OBU_RFLAG to set 1, and setting the timer count value OBU_NCNT for calculating the duration of the non-received OBU message to 0.
After any frame in the three-frame message sent by the OBU is received and the data and the receiving time are put into the corresponding two-dimensional array, the receiving time of the element corresponding to the current serial number in the two-dimensional array is respectively calculated by difference with the receiving time of the elements of the other two-dimensional arrays corresponding to the current serial number, the absolute value is taken, and then whether the value is smaller than 50ms is judged.
If the absolute values of the mutual differences of the receiving times of the elements of the same index in the three two-dimensional arrays are respectively smaller than 50ms, the pilot vehicle data of the elements of the index in the three two-dimensional arrays are indicated to be a set of original data sent by the OBU at the same time.
Judging whether the original data is an effective value or not has two conditions, namely whether the longitude and latitude data in the group of values are not 0 at the same time or not, and whether the longitude and latitude data of the pilot vehicle obtained by carrying out logic judgment by combining the positioning data of the pilot vehicle is within a reasonable range or not according to information (such as the distance between the following vehicle and the pilot vehicle and the like) acquired and calculated by a camera arranged on the following vehicle and a laser radar.
If the two conditions are met at the same time, the same group of original data sent by the OBU is an effective value, and next, the judgment of the other two conditions is needed, wherein one is whether the speed of the pilot vehicle is not 0, and the other is whether the following vehicle enters a formation mode.
If the two conditions are met simultaneously, the set of effective data is put into the established queue 1, the queue 1 is multidimensional and contains a plurality of pose information of the pilot vehicle, and in addition, the length of the queue 1 can be freely configured according to actual conditions.
And setting the OBU_RFLAG of the received OBU message to 0, and judging whether the length of the queue 1 is greater than 0.
If the length of the queue 1 is greater than 0, performing Euclidean distance operation on longitude and latitude data of all pilot vehicles and current longitude and latitude data of the following vehicles in the queue 1, then placing operation results into the queue 2 one by one, wherein the length of the queue 2 is the same as that of the queue 1, performing minimum value operation on all elements in the queue 2, and obtaining an index number of a minimum value.
And taking out the pilot vehicle data stored in the queue 1 according to the obtained index number, wherein the data is the pilot vehicle track target point.
The data transmission radio equipment is used as a redundancy mode, and the application steps in the scheme are as follows:
after the OBU_RFLAG is set to 0, a timer for calculating the duration of the unreceived OBU message starts counting, when the counted value OBU_NCNT is greater than 300ms, the timer is immediately switched to receive serial port data sent by the data transmission radio station, and then the calculation is also carried out according to the process, if the CAN data sent by the OBU is received again, the OBU_RFLAG is set to 1, and the counted value OBU_NCNT of the timer for calculating the duration of the unreceived OBU message is set to 0, so that the timer CAN be immediately switched to receive the CAN message data sent by the OBU.
The foregoing is merely illustrative of specific embodiments of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modification of the present invention by using the design concept shall fall within the scope of the present invention.
Claims (5)
1. A calculation method for trajectory target points for vehicle formation, characterized by: the method adopts equipment taking an OBU as a main part and a data transmission radio station as an auxiliary part, and comprises the following specific steps:
(1) The OBU sends three frames of CAN message data containing pilot vehicle pose and serial numbers to the following vehicle;
(2) Judging whether three frames of CAN message data of the OBU are received or not;
(3) If three frames of CAN message data of the OBU are received, respectively placing the pilot vehicle data and the receiving time of the three frames of CAN messages into corresponding two-dimensional arrays, wherein the first dimension of each two-dimensional array is used for storing the pilot vehicle data in the received corresponding CAN message, and the second dimension is used for storing the time of the received current message;
(4) Judging whether the data in the three two-dimensional arrays are three-frame CAN messages at the same time sent by the OBU, if so, entering the step (5); the conditions that the data in the three two-dimensional arrays are three-frame CAN messages sent by the OBU at the same time are as follows: when any frame in the three-frame CAN message is received, the time data of two-dimensional data in the corresponding three two-dimensional arrays are taken out according to the serial number in the frame message to respectively make difference values and take absolute values, and the absolute values are simultaneously smaller than 50 milliseconds;
(5) Judging whether the same group of original data sent by the OBU is valid or not, if so, entering a step (6); the two conditions for the same set of raw data sent by the OBU to be valid are: one is whether the longitude and latitude data in the group of values are not 0 at the same time; secondly, according to information acquired and calculated by a camera and a laser radar configured by the following vehicle, and by combining the positioning data of the following vehicle, logically judging whether the longitude and latitude data of the pilot vehicle are within a reasonable range or not;
(6) And judging the other two conditions: one is whether the speed of the pilot vehicle is not 0, and the other is whether the following vehicle enters a formation mode;
(7) If the two conditions in the step (6) are met, putting the group of effective data into the established queue 1;
(8) Judging whether the length of the queue 1 is greater than 0, if so, performing Euclidean distance operation, storing operation results into the queue 2 one by one, and performing minimum value operation on the queue 2 to obtain an index number of a minimum value;
(9) Taking out the pilot vehicle data stored in the queue 1 according to the index number, namely, obtaining a track target point;
the data transmission radio station sends pilot vehicle data through a serial port in real time, and if the OBU data cannot be received for more than time t, the data transmission radio station is immediately switched to receive the serial port data sent by the data transmission radio station; when the OBU data is received again, the method is immediately switched to receiving CAN message data sent by the OBU.
2. A method of calculating a trajectory target point for vehicle formation as claimed in claim 1, wherein: the pilot vehicle pose information comprises the position, course angle, vehicle speed and steering wheel corner of the pilot vehicle.
3. A method of calculating a trajectory target point for vehicle formation as claimed in claim 1, wherein: and (3) receiving the three frames of CAN messages sent by the OBU, then receiving the OBU message flag bit OBU_RFLAG to be set to 1, and simultaneously setting the timer count value OBU_NCNT for calculating the duration of the non-received OBU message to 0.
4. A method of calculating a trajectory target point for vehicle formation as claimed in claim 1, wherein: and (8) setting the OBU_RFLAG of the received OBU message to 0 before judging whether the length of the queue 1 is greater than 0.
5. A method of calculating a trajectory target point for vehicle formation according to claim 4, wherein the step of applying the data transfer station comprises the steps of: after the OBU message flag bit obu_rflag is set to 0 in the step (8), a timer for calculating the duration of the non-received OBU message starts counting, when the count value obu_ncnt is greater than 300ms, the timer is immediately switched to receive serial port data sent by the data transmission station, and then the calculation is performed according to the above process, if the CAN data sent by the OBU is received again, the OBU message flag bit obu_rflag is set to 1, and the timer count value obu_ncnt for calculating the duration of the non-received OBU message is set to 0, so that the timer CAN be immediately switched to receive the CAN message data sent by the OBU.
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