A car following control method, system and vehicle for an automatic driving fleet
A technology of automatic driving and control system, which is applied in the traffic control system, traffic control system, instrument, etc. of road vehicles, and can solve the problem of vehicle track deviation
Active Publication Date: 2021-11-19
SHANGHAI TUSEN FUTURE ARTIFICIAL INTELLIGENCE TECH CO LTD
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Problems solved by technology
[0003] However, it is difficult for the following car to follow the lead car by stepping on the accelerator, stepping on the brakes or steering, etc., which is difficult to meet the needs of following the lead car, and it is easy to cause the vehicle track to deviate.
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[0046] The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.
[0047] It should be noted that the term "vehicle" is broadly construed in this application to include any moving object including, for example, aircraft, boats, spacecraft, automobiles, trucks, vans, semi-trailers, motorcycles, golf carts, off-road Vehicles, warehouse transport vehicles or agricultural vehicles as well as vehicles running on rails, such as trams or trains and other rail vehicles. A "vehicle" in this application may generally include: a power system, a sensor system,...
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The present application provides a vehicle following control method, system and vehicle of an automatic driving fleet, and relates to the technical field of automatic driving. In the system, the on-board server of the front vehicle obtains its own driving trajectory of the vehicle in front, and extracts the key points of the trajectory according to the driving trajectory of the vehicle in front; The vehicle-mounted server performs curve fitting according to the key points of the trajectory to obtain the historical trajectory curve of the preceding vehicle; the vehicle-mounted server of the rear vehicle obtains its own position and heading information, and performs curve fitting according to any point on the historical trajectory curve of the preceding vehicle , to obtain the motion planning curve; the vehicle-mounted server of the rear vehicle controls the rear vehicle itself according to the motion planning curve and the historical trajectory curve of the front vehicle after the arbitrary point, so that the rear vehicle can control the following vehicle according to the motion planning curve and the arbitrary point Afterwards, the historical trajectory curve of the preceding vehicle is used for driving.
Description
technical field [0001] The present application relates to the technical field of automatic driving, and in particular to a vehicle following control method, system and vehicle of an automatic driving fleet. Background technique [0002] At present, cooperative autonomous driving platooning (Platooning) refers to the formation state in which multiple vehicles follow behind with a very small distance between vehicles based on the support of automatic driving technology and V2V (Vehicle-to-Vehicle, vehicle-to-vehicle) Internet of Vehicles technology. In a formation, the distance between vehicles is far below the safe driving distance in the general sense, only 20 meters or less. The extremely small distance between vehicles will cause the airflow broken by the leading vehicle to be directly caught by the second vehicle at the rear. Acceptance, without forming a low-pressure vortex zone, thereby effectively reducing the total air resistance of the entire fleet during driving. G...
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IPC IPC(8): G08G1/00G08G1/0967
CPCG08G1/096725G08G1/22
Inventor 李文锐吴楠徐勇毕青鑫彭瑞李一鸣温博轩
Owner SHANGHAI TUSEN FUTURE ARTIFICIAL INTELLIGENCE TECH CO LTD