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Vehicle formation control method

A control method and vehicle technology, applied in the field of vehicle formation, can solve the problems of large lateral position deviation, lateral control error, lateral error accumulation, etc., and achieve the effect of reducing lateral error, ensuring stability, and reducing lateral error accumulation.

Active Publication Date: 2022-06-28
XIAMEN KING LONG UNITED AUTOMOTIVE IND CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] At present, in vehicle formation technology, most of the following vehicles (car No. n) follow the trajectory of the vehicle in front (Car No. For the vehicles behind, the greater the lateral position deviation, there is a problem of lateral error accumulation; in addition, most of the current vehicle formation technology is based on the trajectory tracking of positioning information, which inevitably encounters the problem of positioning information drift

Method used

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Embodiment Construction

[0029] The specific implementation of the embodiments of the present invention will be described below with reference to the accompanying drawings.

[0030] refer to figure 1 , a vehicle formation control method, comprising the following steps:

[0031] The first step is to initialize and build an overall interaction scheme, specifically:

[0032] The total number of vehicles included in the designed vehicle formation is N (N ≥ 2), and the number of bicycles is n ( , N=2 is the leading car, n2, 3...N is the following car). Set the content of the information package sent by the leading car as: latitude and longitude coordinates, heading angle, vehicle speed V, steering wheel angle A, actual brake opening B, formation command; set the content of the information package sent by the following car as: latitude and longitude coordinates, heading Angle, vehicle speed V, steering wheel angle A, actual brake opening B, formation status flag 0 or 1 (the flag is 0 means the following...

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Abstract

The invention relates to the technical field of vehicle formation, in particular to a vehicle formation control method, and the method comprises the steps: constructing an integral interaction scheme, issuing a formation composition instruction by a leading vehicle, receiving the formation composition instruction by a following vehicle, and judging whether a front vehicle enters a formation state or not and judging whether the position of the leading vehicle meets a constraint condition or not; after the conditions are met, the following vehicles enter a formation mode, and meanwhile track planning and following are conducted; and when the following vehicle enters the track of the pilot vehicle, the following vehicle enters a formation state, a formation composition state mark is sent, and tracking control on the track of the pilot vehicle is started. When the following vehicles enter the formation mode, track planning of the following vehicles is carried out in a specific mode, continuous track curvature is guaranteed, the transverse control target does not suddenly change when the driving track of the following vehicles is connected to the driving track of the leading vehicle, and then the transverse error of the following vehicles is reduced.

Description

technical field [0001] The invention relates to the technical field of vehicle formation, and more particularly to a vehicle formation control method. Background technique [0002] Vehicle formation technology has been widely studied in recent years. This technology means that in some specific scenarios, several vehicles are automatically formed into a fleet, the first vehicle is used as the pilot vehicle, and the following vehicles automatically follow the pilot with a small distance between the vehicles. The car is driving, and the following car can be equipped with only safety personnel or even unmanned. This technology effectively solves traffic congestion, improves traffic efficiency, reduces fleet energy consumption, increases the carrying capacity of people and goods, and can greatly reduce driver fatigue during long-distance driving. In addition, due to the small inter-vehicle distance between vehicles running in formation, the wind resistance of vehicles can be sig...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/165B60W60/00B60W10/08B60W10/18B60W10/20
CPCB60W30/165B60W60/001B60W10/08B60W10/18B60W10/20Y02P90/02
Inventor 蒋金康林刘志伟林思学吴焜昌
Owner XIAMEN KING LONG UNITED AUTOMOTIVE IND CO LTD