CN115129054A - Intelligent vehicle formation control method, computer device, readable storage medium and program product - Google Patents
Intelligent vehicle formation control method, computer device, readable storage medium and program product Download PDFInfo
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Abstract
An intelligent vehicle formation control method, computer equipment, a readable storage medium and a program product belong to the technical field of intelligent vehicle control and solve the problem of insufficient safety and stability caused by the fact that the problem of track jitter is not solved in the prior art. The method of the invention comprises the following steps: setting a desired relative distance and a desired relative angle between each following vehicle and the pilot vehicle; acquiring poses and motion states of a pilot vehicle and a following vehicle through an inertial navigation system; acquiring the angular speed range of a pilot vehicle under the condition that all following vehicles keep respective linear speeds greater than zero; updating the pose and the motion state of the pilot vehicle according to the angular speed range of the pilot vehicle; acquiring the linear speed and the angular speed of the following vehicle at the next time step; and converting the linear speed and the angular speed of each following vehicle at the next time step into an accelerator, a brake and a steering wheel corner which can be executed, and finishing vehicle formation control. The invention is suitable for formation control of intelligent vehicles.
Description
Technical Field
The application relates to the technical field of intelligent vehicle control, in particular to an intelligent vehicle formation control method.
Background
The intelligent vehicle formation locates the position of the intelligent vehicle through the coordination and cooperation among vehicles, so that the stability of the formation is guaranteed as the core, and the essence is the co-operation of multiple intelligent agents. At present, intelligent vehicle formation shows wide application prospects in the aspects of joint patrol, environmental exploration and the like, has very important scientific significance, and can promote the further development of vehicle intelligent technology.
When the intelligent vehicle formation runs, global environment information is difficult to obtain, so that a reference point needs to be appointed in the formation, and the vehicles in the formation are adjusted according to the positions of the vehicles relative to the reference point to form an appointed formation. The piloting-following method is characterized in that a vehicle in a formation is selected as a piloting vehicle, the behavior and the running track of the formation are guided by the piloting vehicle, and the following vehicle can plan the motion of the following vehicle through the motion state of the piloting vehicle, so that the control difficulty of the formation is reduced; meanwhile, the formation control method is beneficial to simplifying the information interaction of the intelligent vehicles in the system. At present, the intelligent vehicle still has the problem that security, stability are not enough to await solution when the formation of complicated formation of formation is gone.
In the prior art, for example, a formation keeping control method and a formation keeping control system for unmanned vehicles disclosed in chinese patent with publication number CN107943071A and publication date of 2018, 04, and 20, formation control is performed by using a pilot-follow method, but the problem of track jitter generated by the pilot-follow method is not explained and improved.
In the prior art, for example, in an intelligent vehicle formation driving method disclosed in chinese patent with publication number CN107943071A and publication date of 2017, 05 and 24, a pilot-following method is used for formation, except that a pilot vehicle can be dynamically adjusted according to the state of the following vehicle, so that formation safety is improved, but the problem of track jitter generated by the pilot-following method is not explained and improved.
When the intelligent vehicles are in formation driving in a piloting-following mode, if the piloted vehicles have high-speed steering behaviors, the following vehicles in the formation can repeatedly move forwards and backwards on site, and the situation is called track jitter. When the track jitter occurs, the stability of the whole vehicle formation is greatly influenced, and in severe cases, the formation behavior is broken down.
Disclosure of Invention
The invention aims to solve the problems of insufficient safety and stability caused by the fact that the problem of track jitter is not solved in the prior art, and provides an intelligent vehicle formation control method, computer equipment, a readable storage medium and a program product.
The invention is realized by the following technical scheme, and on one hand, the invention provides an intelligent vehicle formation control method, which comprises the following steps:
step 1, determining a pilot vehicle, and setting an expected relative distance and an expected relative angle between each following vehicle and the pilot vehicle;
step 2, acquiring poses and motion states of the pilot vehicle and the following vehicle through an inertial navigation system;
step 3, under the condition that all following vehicles keep respective linear speeds greater than zero, acquiring the angular speed range of the pilot vehicle according to the expected relative distance and the expected relative angle between each following vehicle and the pilot vehicle;
step 4, resetting the angular velocity of the pilot vehicle according to the angular velocity range of the pilot vehicle, and updating the pose and the motion state of the pilot vehicle;
step 5, acquiring the linear speed and the angular speed of each following vehicle at the next time step according to the updated pose and motion state of the piloting vehicle;
and 6, converting the linear speed and the angular speed of each following vehicle at the next time step into an executable accelerator, a brake and a steering wheel corner by using a transverse and longitudinal control system, and inputting the executable accelerator, brake and steering wheel corner into a vehicle control unit to complete vehicle formation control.
Further, the pose comprises longitude and latitude and a heading angle, and the motion state comprises a linear velocity and an angular velocity.
Further, step 3 specifically includes:
step 3.1, acquiring the angular speed range of the following vehicle relative to the pilot vehicle according to the expected relative distance and the expected relative angle between the following vehicle and the pilot vehicle;
step 3.2, repeating the step 3.1, and obtaining the angular speed range of each following vehicle relative piloting vehicle;
and 3.3, acquiring the angular speed range of the pilot vehicle according to the angular speed range of the pilot vehicle related to each following vehicle.
Further, in step 3.1, the method for obtaining the angular velocity range of the following vehicle-related pilot vehicle specifically includes:
obtaining an angular velocity range of a following vehicle related pilot vehicle according to an angular velocity range formula, wherein the angular velocity range formula is as follows:
wherein v is 1 And ω 1 Linear and angular velocity, l, respectively, of the piloted vehicle d And
respectively, a desired relative distance and a desired relative angle between the lead vehicle and the following vehicle.
Further, in step 3.3, the angular speed range of the pilot vehicle specifically includes: the range of angular velocities of the lead vehicle is comprised by the intersection of the ranges of angular velocities of all following vehicle related lead vehicles.
Further, in step 4, the resetting the angular velocity of the pilot vehicle specifically includes:
setting the angular velocity of the pilot vehicle to any value in the range of angular velocities of the pilot vehicle.
Further, in step 5, the method for acquiring the linear velocity and the angular velocity of the following vehicle at the next time step specifically includes:
and according to the following formula, obtaining the linear velocity and angular velocity of the following vehicle in the next time step,
wherein v is 1 And ω 1 Linear velocity and angular velocity of the pilot vehicle, respectively; v. of 2 And ω 2 Linear and angular velocities of the following vehicle, respectively; d is the distance from the origin of the vehicle coordinate system to the rotation center of the vehicle; l d And
a desired relative distance and a desired relative angle between the lead vehicle and the following vehicle, respectively; l. the 12 And
respectively the actual relative distance and the actual relative angle of the lead vehicle and the following vehicle,
wherein, theta 1 Is the heading angle, θ, of the piloted vehicle 2 In order to follow the heading angle of the vehicle,
and
is a constant gain factor.
In a second aspect, the present invention provides a computer apparatus comprising a memory and a processor, the memory having stored therein a computer program, the processor executing an intelligent vehicle formation control method as described above when executing the computer program stored in the memory.
In a third aspect, the present invention provides a computer-readable storage medium having stored therein a plurality of computer instructions for causing a computer to execute an intelligent vehicle formation control method as described above.
In a fourth aspect, the present invention provides a computer program product, which when executed by a processor implements an intelligent vehicle formation control method as described above.
The invention has the beneficial effects that:
the invention provides a high-stability intelligent vehicle formation control strategy based on the Internet of vehicles, which can effectively eliminate formation track jitter and ensure the smooth and stable running of intelligent vehicle formation by limiting the angular speed of a pilot vehicle.
1. When the intelligent vehicles are formed to run by the piloting-following method, the angular speed of the piloting vehicles is limited according to a control law that all the following vehicles can keep the linear speed of each following vehicle to be greater than zero, and therefore the track jitter of the following vehicles can be effectively eliminated, and the stable running of the formed vehicle is guaranteed.
2. On the basis of effectively eliminating the track jitter of the following vehicles, the problems of insufficient safety and stability and the like existing in the formation driving of the intelligent vehicles in the complex formation form to be solved urgently are further solved
The invention is suitable for formation control of intelligent vehicles.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments are briefly described below, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a vehicle motion model of the present invention;
fig. 2 is a motion model of pilot-follow formation of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present invention and should not be construed as limiting the present invention.
In one embodiment, an intelligent vehicle formation control method includes:
step 1, determining a pilot vehicle, and setting an expected relative distance and an expected relative angle between each following vehicle and the pilot vehicle;
step 2, acquiring poses and motion states of the pilot vehicle and the following vehicle through an inertial navigation system;
step 3, under the condition that all following vehicles keep respective linear velocity larger than zero, acquiring an angular velocity range of the pilot vehicle according to expected relative distance and expected relative angle between each following vehicle and the pilot vehicle;
step 4, resetting the angular velocity of the pilot vehicle according to the angular velocity range of the pilot vehicle, and updating the pose and the motion state of the pilot vehicle;
step 5, acquiring the linear speed and the angular speed of each following vehicle at the next time step according to the updated pose and motion state of the piloting vehicle;
and 6, converting the linear speed and the angular speed of each following vehicle at the next time step into an executable accelerator, a brake and a steering wheel corner by using a transverse and longitudinal control system, and inputting the executable accelerator, brake and steering wheel corner into a vehicle control unit to complete vehicle formation control.
In the embodiment, when the intelligent vehicles are formed to run by the piloting-following method, the angular speed of the piloting vehicles is limited according to the control law that all following vehicles can keep respective linear speeds greater than zero, so that the track jitter of the following vehicles can be effectively eliminated, and the stable running of the formed vehicle is ensured.
It should be noted that, as shown in figure 1,
the current pose of the vehicle is (x, y, theta), wherein (x, y) is the origin of a vehicle coordinate system; theta is the current course angle of the vehicle; v and ω are the linear and angular velocities of the vehicle, respectively. The motion model of the vehicle is described as:
firstly, one vehicle in the formation is designated as a pilot vehicle, the self coordinate of the vehicle is obtained through an inertial navigation system and is set as a reference point, and other following vehicles obtain the pose change of the pilot vehicle through an internet of vehicles system in the formation to dynamically track and adjust the relative distance and angle. The piloted vehicle is used as a reference point for formation, adjustment is not carried out, and the task of formation maintenance is completed by the following robot.
The model of the motion of the pilot-follow formation as shown in FIG. 2, where C L To pilot the vehicle, C F For following the vehicles, their poses are respectively (x) 1 ,y 1 ,θ 1 )、(x 2 ,y 2 ,θ 2 )；v 1 And ω 1 Linear velocity and angular velocity of the pilot vehicle, respectively; v. of 2 And ω 2 Respectively the linear velocity and the angular velocity of the following vehicle; the distance from the origin of the vehicle coordinate system to the rotation center of the vehicle is d; l d And
a desired relative distance and a desired relative angle between the pilot vehicle and the following vehicle, respectively; l 12 And
the actual relative distance and the actual relative angle of the two are respectively;
and
respectively, the relative distance and the rate of change of the relative angle of the two, wherein C L Has a relative distance change rate of
A relative angle change rate of
C F Has a relative distance change rate of v 2 cosγ 1 +dω 2 sinγ 1 The relative angle change rate is (d ω) 2 cosγ 1 -v 2 sinγ 1 )/l 12 (ii) a From fig. 2, the dynamic model of formation can be derived as:
wherein
The purpose of using the pilot-follow control algorithm is to make l → ∞ time 12 →l d ，
This closed-loop control law is described as:
wherein
And
is a constant gain factor. Substituting the formula (3) into the formula (2) can obtain the control law of the following vehicle:
wherein
Therefore, the position and the motion state of the pilot vehicle are obtained through the vehicle networking system, the motion control strategy in the formula (4) can be executed along with the vehicle, and the task of maintaining the formation is completed.
The reason why the track shake is formed is that when the leading vehicle turns, the following vehicle repeatedly advances and retreats in a certain range area. In order to eliminate the jitter, all following vehicles can keep the respective linear velocity greater than zero, and therefore a control law for eliminating the track jitter of the following vehicles is set.
Linear velocity v of piloted vehicles when travelling in formation 1 Is greater than 0. Assuming that the formation is relatively stable, i.e./when the formation is running 12 ＝l d ，
Substituting it into equation (4) can deduce the linear velocity of the following vehicle as:
to ensure v 2 If the angular speed control law is more than 0, the angular speed control law of the pilot vehicle is as follows:
namely, when the angular velocity of the pilot vehicle meets the formula (6), the linear velocity of the following vehicle can be always kept at a positive value, and the track jitter of formation can be eliminated.
First, if there are a plurality of following vehicles, the angular velocity range of the lead vehicle is calculated by the formula (6), and then the angular velocity of the lead vehicle is kept within the minimum range of the above results, i.e., the whole formation can be kept from shaking.
Secondly, the angular velocity of the piloted vehicle can be kept at any value within the range, and the expected linear velocity and the angular velocity of the following vehicle can be calculated through the formula (4).
In the second embodiment, the method for controlling formation of intelligent vehicles according to the first embodiment is further defined, and in the second embodiment, the pose and the motion state are further defined,
the method specifically comprises the following steps:
the pose comprises longitude and latitude and a heading angle, and the motion state comprises a linear velocity and an angular velocity.
The embodiment provides relevant parameters for eliminating the track jitter problem of the following vehicle, and the parameters are set to effectively realize the necessary parameters for solving the jitter problem.
In the third embodiment, the present embodiment is further limited to the method for controlling intelligent vehicle formation according to the first embodiment, and in the present embodiment, the step 3 is further limited,
the method specifically comprises the following steps:
step 3.1, acquiring the angular speed range of the following vehicle relative to the pilot vehicle according to the expected relative distance and the expected relative angle between the following vehicle and the pilot vehicle;
step 3.2, repeating the step 3.1, and obtaining the angular speed range of each following vehicle relative piloting vehicle;
and 3.3, acquiring the angular speed range of the pilot vehicle according to the angular speed range of the pilot vehicle related to each following vehicle.
In the embodiment, the method for acquiring the angular velocity range of the pilot vehicle is provided, and the method can ensure that all following vehicles keep respective linear velocities larger than zero, so that the problem of jitter is solved.
If a plurality of following vehicles exist, the angular speed range of the pilot vehicle is calculated by the formula (6), and then the angular speed of the pilot vehicle is kept within the minimum range in the result, so that the whole formation can be kept from shaking.
Fourth, the present embodiment is a method for controlling formation of intelligent vehicles according to the third embodiment, and the present embodiment further defines the method for obtaining the angular velocity range of the following vehicle-related lead vehicle in step 3.1,
the method specifically comprises the following steps:
obtaining an angular velocity range of a following vehicle related pilot vehicle according to an angular velocity range formula, wherein the angular velocity range formula is as follows:
wherein v is 1 And ω 1 Linear and angular velocity, l, respectively, of the piloted vehicle d And
respectively, a desired relative distance and a desired relative angle between the lead vehicle and the following vehicle.
The reason why the track shake is generated is that when the leading vehicle turns, the following vehicle repeatedly advances and retreats in a certain range area. In order to eliminate the jitter, all following vehicles can keep the respective linear velocity greater than zero, and therefore a control law for eliminating the track jitter of the following vehicles is set.
Linear velocity v of piloted vehicles when travelling in formation 1 Is greater than 0. Assuming that the formation is relatively stable, i.e./when the formation is running 12 ＝l d ，
Substituting it into equation (4) can deduce the linear velocity of the following vehicle as:
to ensure v 2 If the angular speed control law of the pilot vehicle is more than 0, the angular speed control law of the pilot vehicle is obtained as the angular speed range formula.
According to the embodiment, a reasonable selection method of the angular speed range of the pilot vehicle is provided, and therefore effectiveness of eliminating the jitter problem is improved.
Fifth, the present embodiment is further limited to the method for controlling formation of intelligent vehicles according to the third embodiment, wherein in the present embodiment, the angular velocity range of the lead vehicle according to step 3.3 is further limited,
the method specifically comprises the following steps:
the range of angular velocities of the lead vehicle is comprised by the intersection of the ranges of angular velocities of all following vehicle related lead vehicles.
In the embodiment, the finally determined angular speed range of the pilot vehicle can be ensured to be within the angular speed range of the pilot vehicle related to each following vehicle, so that the problem of track jitter of all following vehicles can be effectively eliminated, and the stable and safe running of the formation vehicles is ensured.
Sixth, the present embodiment is further limited to the method for controlling intelligent vehicle formation according to the first embodiment, wherein in the present embodiment, the angular velocity range of the pilot vehicle in step 3.3 is further limited,
the method specifically comprises the following steps:
setting the angular velocity of the pilot vehicle to any value in the range of angular velocities of the pilot vehicle.
In the embodiment, the angular velocity resetting method of the pilot vehicle is provided, namely, as long as the angular velocity of the pilot vehicle is ensured to be set in the angular velocity range of the pilot vehicle obtained by the angular velocity control law of the pilot vehicle, the problem of jitter can be effectively eliminated.
Seventh embodiment, the present invention is further limited to the method for controlling formation of intelligent vehicles according to the first embodiment, and in the present embodiment, the method for acquiring the linear velocity and the angular velocity of the following vehicle at the next time step in step 5 is further limited,
the method specifically comprises the following steps:
according to the following formula, linear speed and angular speed of the following vehicle at the next time step are obtained,
wherein v is 1 And ω 1 Linear velocity and angular velocity of the pilot vehicle, respectively; v. of 2 And ω 2 Respectively the linear velocity and the angular velocity of the following vehicle; d is the distance from the origin of the vehicle coordinate system to the rotation center of the vehicle;
is the desired relative angle between the lead vehicle and the following vehicle; l 12 And
respectively the actual relative distance and the actual relative angle of the lead vehicle and the following vehicle,
wherein, theta 1 Is the heading angle, θ, of the piloted vehicle 2 In order to follow the course angle of the vehicle,
and
is a constant gain factor.
In this embodiment, a method for setting the linear velocities and the angular velocities of all following vehicles at the next time step is provided, that is, the linear velocities and the angular velocities of all following vehicles at the next time step are set according to the pose and the motion state of the pilot vehicle, which are obtained by judging whether the jitter problem can be eliminated, so as to realize the stability and the safety of vehicle formation.
Eighth embodiment, the present embodiment is based on the above-mentioned example of the intelligent vehicle formation control method, and specifically includes:
1. and setting an intelligent vehicle formation. Designating a lead vehicle, setting a desired distance l between each following vehicle and the lead vehicle d And desired angle
2. The navigation vehicle and the following vehicle acquire the pose (longitude and latitude, course angle) and motion state (linear velocity, angular velocity) and other information of the self vehicle through the inertial navigation system.
3. The piloting vehicle is based on the desired distance l of each following vehicle d And desired angle
The angular velocity ranges in which the following vehicles do not shake are respectively calculated by the formula (6), and the angular velocity of the pilot vehicle is kept within the minimum range, so that the shake of the whole formation can be suppressed.
4. And the following vehicle acquires the pose and motion state information of the piloting vehicle through the Internet of vehicles communication system.
5. And (4) the following vehicle calculates the expected linear speed and angular speed of the next time step by a formula (4) according to the pose and motion state information of the vehicle and the pilot vehicle.
6. The horizontal and vertical control system of the following vehicle converts the expected linear speed and angular speed into an accelerator, a brake and a steering wheel turning angle which can be executed, and inputs the converted speed into a vehicle controller to complete vehicle control.
7. And (5) repeating the steps 4 to 6 to realize formation control.
The intelligent vehicle for formation needs to include the following devices:
1) high accuracy inertial navigation system. The self-based navigation system can acquire the self-based information of the positions and motion states such as longitude and latitude, course angle, linear speed, angular speed and the like.
2) Internet of vehicles communication system. Real-time communication among vehicles can be guaranteed, and the pose and motion state information of all vehicles in the formation can be shared.
3) Vehicle transverse and longitudinal control system. Through the vehicle transverse and longitudinal control system, the expected linear speed and angular speed of the vehicle can be converted into signals of an accelerator pedal, a brake pedal, a steering wheel corner and the like which can be executed by the vehicle, and vehicle control is realized.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. An intelligent vehicle formation control method, characterized in that the method comprises:
step 1, determining a pilot vehicle, and setting an expected relative distance and an expected relative angle between each following vehicle and the pilot vehicle;
step 2, acquiring poses and motion states of the pilot vehicle and the following vehicle through an inertial navigation system;
step 3, under the condition that all following vehicles keep respective linear speeds greater than zero, acquiring the angular speed range of the pilot vehicle according to the expected relative distance and the expected relative angle between each following vehicle and the pilot vehicle;
step 4, resetting the angular velocity of the pilot vehicle according to the angular velocity range of the pilot vehicle, and updating the pose and the motion state of the pilot vehicle;
step 5, acquiring the linear speed and the angular speed of each following vehicle at the next time step according to the updated pose and motion state of the piloting vehicle;
and 6, converting the linear speed and the angular speed of each following vehicle at the next time step into an executable accelerator, a brake and a steering wheel corner by using a transverse and longitudinal control system, and inputting the executable accelerator, brake and steering wheel corner into a vehicle control unit to complete vehicle formation control.
2. The intelligent vehicle formation control method according to claim 1, wherein the pose comprises longitude and latitude and a heading angle, and the motion state comprises a linear velocity and an angular velocity.
3. The intelligent vehicle formation control method according to claim 1, wherein the step 3 specifically comprises:
step 3.1, acquiring the angular speed range of the following vehicle relative to the pilot vehicle according to the expected relative distance and the expected relative angle between the following vehicle and the pilot vehicle;
step 3.2, repeating the step 3.1, and obtaining the angular speed range of each following vehicle relative piloting vehicle;
and 3.3, acquiring the angular speed range of the pilot vehicle according to the angular speed range of the pilot vehicle related to each following vehicle.
4. An intelligent vehicle formation control method according to claim 3, wherein in step 3.1, the method for obtaining the angular velocity range of the following vehicle-related pilot vehicle specifically comprises:
obtaining an angular velocity range of a following vehicle related pilot vehicle according to an angular velocity range formula, wherein the angular velocity range formula is as follows:
wherein v is 1 And omega 1 Linear and angular velocity, l, respectively, of the piloted vehicle d And
respectively, a desired relative distance and a desired relative angle between the lead vehicle and the following vehicle.
5. The intelligent vehicle formation control method according to claim 3, wherein in step 3.3, the angular speed range of the pilot vehicle is specifically as follows: the range of angular velocities of the lead vehicle is comprised by the intersection of the ranges of angular velocities of all following vehicle related lead vehicles.
6. The intelligent vehicle formation control method according to claim 1, wherein in step 4, the resetting of the angular velocity of the pilot vehicle specifically comprises:
setting the angular velocity of the pilot vehicle to any value in the range of angular velocities of the pilot vehicle.
7. The intelligent vehicle formation control method according to claim 1, wherein in step 5, the method for acquiring the linear velocity and the angular velocity of the following vehicle at the next time step specifically comprises:
according to the following formula, linear speed and angular speed of the following vehicle at the next time step are obtained,
wherein v is 1 And ω 1 Linear and angular velocities of the piloted vehicle, respectively; v. of 2 And ω 2 Respectively the linear velocity and the angular velocity of the following vehicle; d is the distance from the origin of the vehicle coordinate system to the rotation center of the vehicle; l. the d And
a desired relative distance and a desired relative angle between the pilot vehicle and the following vehicle, respectively; l 12 And
respectively the actual relative distance and the actual relative angle of the lead vehicle and the following vehicle,
wherein, theta 1 Is the heading angle, θ, of the piloted vehicle 2 In order to follow the heading angle of the vehicle,
and
is a constant gain factor.
8. A computer device comprising a memory and a processor, the memory having stored therein a computer program, characterized in that the steps of the method of any of claims 1 to 7 are performed when the processor runs the computer program stored by the memory.
9. A computer-readable storage medium having stored thereon a plurality of computer instructions for causing a computer to perform the method of any one of claims 1 to 7.
10. A computer program product, characterized in that the computer program, when being executed by a processor, implements the method of any one of claims 1 to 7.
Priority Applications (1)
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