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Method and device for changing formation of unmanned vehicle fleet

An unmanned vehicle and formation technology, which is applied in the field of unmanned vehicle fleet formation transformation, can solve the problems of transformation and inability to carry out unmanned vehicle fleet, etc., to ensure driving safety, save labor costs, high accuracy and stability Effect

Pending Publication Date: 2019-09-20
BEIJING ZHIXINGZHE TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0012] The purpose of the embodiment of the present invention is to provide a method and device for unmanned vehicle fleet formation change, to solve the problem in the prior art that unmanned vehicle fleet change cannot be performed

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  • Method and device for changing formation of unmanned vehicle fleet
  • Method and device for changing formation of unmanned vehicle fleet
  • Method and device for changing formation of unmanned vehicle fleet

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Embodiment Construction

[0067] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, rather than to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.

[0068] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0069] Before following the unmanned vehicle fleet, the communication method of the vehicles in the unmanned vehicle fleet will be explained. Vehicles in the unmanned vehicle fleet can communicate through digital radio, Bluetooth, 4G, 5G, etc. This application does not limit...

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Abstract

The invention provides a method for changing the formation of an unmanned vehicle fleet. The method comprises the steps of: when the pre-aiming point information of a front vehicle is acquired, determining whether a formation changing instruction is received or not, wherein the formation changing instruction includes a changed shape; when the formation changing instruction is received, performing geometric transformation for the pre-aiming point information according to the changed shape to obtain the geometric position of the pre-aiming point in the changed shape; calculating a first target driving angle and a first target speed of an own vehicle according to preset parameters corresponding to the geometric position and the changed shape; performing formation changing according to the first target driving angle and the first target speed; and sending the state information of the own vehicle to other vehicles, wherein the state information comprises a vehicle ID, position information and speed information, so that the next vehicle of the current vehicle in the other vehicles can perform the formation changing according to the pre-aiming point information, the formation changing instruction and the state information. Therefore, the formation changing of the unmanned vehicle fleet is achieved.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a method and a device for changing formation of an unmanned vehicle fleet. Background technique [0002] In the automotive industry, vehicle following and formation changes are widely used. There is a high demand for commercial activities such as various performances, athletic competitions, delivery of supplies, and wedding celebrations. [0003] At present, the most widely used vehicle following methods can be roughly divided into contact type and non-contact type. [0004] The contact type is such as connecting two cars with a tow hook and a tow rope, and the front car drags the rear car forward, which is often used when the rear car breaks down. [0005] The representative of non-contact is adaptive cruise technology. The adaptive cruise control system is an intelligent automatic control system. During the driving process of the vehicle, the vehicle distance sens...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0246G05D1/0223G05D1/0214G05D1/0221G05D1/0295G05D1/0278G05D1/0276
Inventor 李爽李波刘渊霍舒豪张德兆王肖李晓飞张放
Owner BEIJING ZHIXINGZHE TECH CO LTD
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