Method and terminal for equidistant turning of unmanned vehicle formation

Abstract

The present invention discloses a method and a terminal for equidistant turning of an unmanned vehicle formation. After obtaining the target position of the formation, first calculate the current path direction of the formation, and calculate the offset direction of the formation based on the target position and the path direction; determine the path of the unmanned vehicle on the inner side of the turn of the formation according to the target position and the offset direction, and confirm the turning vertex and the turning center point of the formation accordingly; different unmanned vehicles in the formation calculate the corresponding turning radius based on the turning center point, which can adaptively provide the corresponding turning radius for unmanned vehicles at different positions and can ensure the equidistant turning of the unmanned vehicle formation.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned vehicle control, and particularly to a method and a terminal for equidistant turning of an unmanned vehicle formation. Background Art

[0002] Currently, an operator can monitor an unmanned vehicle formation on a command platform and set a planned path for the unmanned vehicle formation on a monitoring map. The unmanned vehicle formation can be set in various formations such as a trapezoid, a triangular pyramid, an inverted triangle, a column, a rhombus, or an irregular shape.

[0003] After setting the formation, when the operator sets the formation path on the map, it is necessary to ensure that the paths of all unmanned vehicles always maintain the formation. Especially when the formation turns, it is necessary to ensure that the paths of all vehicles can maintain parallelism and equal distance during the turn. When the formation path moves straight ahead, it is not a big problem to keep the paths parallel; however, when the path turns, due to the different positions of the unmanned vehicles in the formation, the turning arc, angle, entry point, exit point, and turning radius will all be inconsistent, resulting in the inability to maintain parallelism when the path turns. Summary of the Invention

[0004] The technical problem to be solved by the present invention is: to provide a method and a terminal for equidistant turning of an unmanned vehicle formation, which can achieve equal-distance parallelism when the unmanned vehicle formation turns.

[0005] To solve the above technical problem, the technical solution adopted by the present invention is:

[0006] A method for equidistant turning of an unmanned vehicle formation includes the steps of:

[0007] Obtaining the target position of the formation and calculating the current path direction of the formation;

[0008] Calculating the offset direction of the formation based on the target position and the path direction, and obtaining the path of the unmanned vehicle on the inner side of the turn in the formation according to the target position and the offset direction;

[0009] Determining the turning vertex of the formation based on the path of the unmanned vehicle on the inner side of the turn, and calculating the turning center point according to the turning vertex;

[0010] Calculating the turning radius of each unmanned vehicle in the formation according to the turning center point, and turning according to the turning radius.

[0011] To solve the above technical problem, another technical solution adopted by the present invention is:

[0012] A terminal for equidistant turning of an unmanned vehicle formation includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the following steps are implemented:

[0013] Obtain the target position of the formation, and calculate the current path direction of the formation;

[0014] Calculate the offset direction of the formation based on the target position and the path direction, and obtain the path of the driverless vehicle on the inner side of the turn in the formation according to the target position and the offset direction;

[0015] Determine the turning vertex of the formation based on the path of the driverless vehicle on the inner side of the turn, and calculate the turning center point according to the turning vertex;

[0016] Calculate the turning radius of each driverless vehicle in the formation according to the turning center point, and make a turn according to the turning radius.

[0017] The beneficial effects of the present invention are as follows: After obtaining the target position of the formation, first calculate the current path direction of the formation, and calculate the offset direction of the formation based on the target position and the path direction; determine the path of the driverless vehicle on the inner side of the turn in the formation according to the target position and the offset direction, and confirm the turning vertex and the turning center point of the formation based on this; different driverless vehicles in the formation calculate the corresponding turning radius based on the turning center point, which can adaptively provide the corresponding turning radius for the driverless vehicles at different positions, and can ensure the equidistant turning of the driverless vehicle formation. Description of the Drawings

[0018] Figure 1 It is a flowchart of a method for equidistant turning of a driverless vehicle formation according to an embodiment of the present invention;

[0019] Figure 2 It is a structural diagram of a terminal for equidistant turning of a driverless vehicle formation according to an embodiment of the present invention;

[0020] Figure 3 It is a schematic diagram of the current path direction of the formation according to an embodiment of the present invention;

[0021] Figure 4 It is a schematic diagram of equidistant turning of a driverless vehicle formation according to an embodiment of the present invention;

[0022] Figure 5 It is a schematic diagram of calculating the center point with the last point of the driverless vehicle on the inner side of the turn according to an embodiment of the present invention;

[0023] Figure 6 It is a schematic diagram of the turning vertex and its center point of the formation according to an embodiment of the present invention;

[0024] Figure 7 It is a schematic diagram of the turning radius of the formation according to an embodiment of the present invention;

[0025] Label Description:

[0026] 1. A terminal for equidistant turning of an unmanned vehicle formation; 2. A memory; 3. A processor. Detailed implementation manners

[0027] To describe in detail the technical content, achieved objectives and effects of the present invention, the following is described in conjunction with the implementation manners and accompanied by the drawings.

[0028] Please refer to Figure 1 , an embodiment of the present invention provides a method for equidistant turning of an unmanned vehicle formation, including the steps:

[0029] Obtain the target position of the formation, and calculate the current path direction of the formation;

[0030] Calculate the offset direction of the formation based on the target position and the path direction, and obtain the path of the unmanned vehicle on the inner side of the turn in the formation according to the target position and the offset direction;

[0031] Determine the turning vertex of the formation based on the path of the unmanned vehicle on the inner side of the turn, and calculate the turning center point according to the turning vertex;

[0032] Calculate the turning radius of each unmanned vehicle in the formation according to the turning center point, and perform turning according to the turning radius.

[0033] As can be seen from the above description, the beneficial effects of the present invention are as follows: after obtaining the target position of the formation, first calculate the current path direction of the formation, and calculate the offset direction of the formation based on the target position and the path direction; determine the path of the unmanned vehicle on the inner side of the turn in the formation according to the target position and the offset direction, and confirm the turning vertex and turning center point of the formation based on this; different unmanned vehicles in the formation calculate the corresponding turning radius based on the turning center point, which can adaptively provide the corresponding turning radius for unmanned vehicles in different positions, and can ensure the equidistant turning of the unmanned vehicle formation.

[0034] Further, calculating the current path direction of the formation includes:

[0035] Obtain the list of path points of the current path of the formation, and traverse the list of path points to obtain the set of the last path point and the set of the penultimate path point in the formation;

[0036] Calculate the center points of the set of the last path point and the set of the penultimate path point respectively, and calculate the current path direction of the formation according to the two calculated center points.

[0037] As can be seen from the above description, calculating the path direction according to the set of the last path point and the set of the penultimate path point in the current path of the formation is convenient for subsequent calculation of the turning vertex.

[0038] Further, calculating the offset direction of the formation based on the target position and the path direction, and obtaining the path of the driverless vehicle on the inner side of the turn in the formation according to the target position and the offset direction includes:

[0039] Determining a first offset direction of the target position relative to the path direction and a second offset direction of the target position relative to the path of the driverless vehicle in the formation;

[0040] Obtaining the path of the driverless vehicle in the formation where the second offset direction is the same as the first offset direction and is the farthest from the center of the formation.

[0041] As can be seen from the above description, calculating the respective offset directions according to the path direction of the formation and the paths of the driverless vehicles in the formation can obtain the paths of the driverless vehicles on the inner side of the formation turn, which is convenient for subsequent calculation of the turning vertices.

[0042] Further, determining the turning vertex of the formation based on the path of the driverless vehicle on the inner side of the turn includes:

[0043] Taking the center point of the formation as the origin, calculating the relative distance coordinates of each driverless vehicle in the formation, taking the abscissa of the driverless vehicle on the inner side of the turn in the formation as the abscissa of the turning vertex, and taking the maximum value of the ordinates of each driverless vehicle in the formation as the ordinate of the turning vertex;

[0044] Calculating the turning center point according to the turning vertex includes:

[0045] Taking the ordinate of the turning vertex as the ordinate of the turning center point. If the first offset direction is the left-turn direction, subtracting a preset turning distance from the abscissa of the turning vertex as the abscissa of the turning center point. If the first offset direction is the right-turn direction, adding a preset turning distance to the abscissa of the turning vertex as the abscissa of the turning center point.

[0046] As can be seen from the above description, determining the turning vertex based on the abscissa of the driverless vehicle on the inner side of the turn in the driverless vehicle formation and the maximum value of the ordinates of each driverless vehicle in the formation; and determining the turning center point based on the turning vertex and the preset turning distance. In this way, all paths turn through this turning center point to achieve equal-distance parallelism of the turning path formation.

[0047] Further, calculating the turning radius of each driverless vehicle in the formation according to the turning center point includes:

[0048] Taking the distance between the driverless vehicle and the turning center point when the driverless vehicle in the formation is on the horizontal line where the turning center point is located as the turning radius of the driverless vehicle.

[0049] As described above, when different unmanned vehicles in the formation reach the horizontal line where the turning center point is located, the corresponding turning radius is calculated to ensure the equidistant turning of the unmanned vehicle formation.

[0050] Please refer to Figure 2 , another embodiment of the present invention provides a terminal for equidistant turning of an unmanned vehicle formation, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the following steps are implemented:

[0051] Obtain the target position of the formation and calculate the current path direction of the formation;

[0052] Calculate the offset direction of the formation based on the target position and the path direction, and obtain the path of the unmanned vehicle on the inner side of the turn in the formation according to the target position and the offset direction;

[0053] Determine the turning vertex of the formation based on the path of the unmanned vehicle on the inner side of the turn, and calculate the turning center point according to the turning vertex;

[0054] Calculate the turning radius of each unmanned vehicle in the formation according to the turning center point, and perform turning according to the turning radius.

[0055] As can be seen from the above description, after obtaining the target position of the formation, first calculate the current path direction of the formation, and calculate the offset direction of the formation based on the target position and the path direction; determine the path of the unmanned vehicle on the inner side of the turn in the formation according to the target position and the offset direction, and confirm the turning vertex and the turning center point of the formation based on this; different unmanned vehicles in the formation calculate the corresponding turning radius based on the turning center point, which can adaptively provide the corresponding turning radius for unmanned vehicles in different positions and ensure the equidistant turning of the unmanned vehicle formation.

[0056] Further, calculating the current path direction of the formation includes:

[0057] Obtain the list of path points of the current path of the formation, and traverse the list of path points to obtain the set of the last path point and the set of the penultimate path point in the formation;

[0058] Calculate the center points of the set of the last path point and the set of the penultimate path point respectively, and calculate the current path direction of the formation according to the two calculated center points.

[0059] As can be seen from the above description, calculating the path direction according to the set of the last path point and the set of the penultimate path point in the current path of the formation facilitates the subsequent calculation of the turning vertex.

[0060] Further, calculating the offset direction of the formation based on the target position and the path direction, and obtaining the path of the unmanned vehicle on the inner side of the turn in the formation according to the target position and the offset direction includes:

[0061] Determining a first offset direction of the target position relative to the path direction and a second offset direction of the target position relative to the path of the unmanned vehicle in the formation;

[0062] Obtaining the path of the unmanned vehicle in the formation of the formation where the second offset direction is the same as the first offset direction and is the farthest from the center of the formation.

[0063] As can be seen from the above description, calculating the respective offset directions according to the path direction of the formation and the paths of the unmanned vehicles in the formation can obtain the paths of the unmanned vehicles on the inner side of the formation turn, which is convenient for the subsequent calculation of the turning vertices.

[0064] Further, determining the turning vertex of the formation based on the path of the unmanned vehicle on the inner side of the turn includes:

[0065] Taking the center point of the formation as the origin, calculating the relative distance coordinates of each unmanned vehicle in the formation, taking the abscissa of the unmanned vehicle on the inner side of the turn in the formation as the abscissa of the turning vertex, and taking the maximum value of the ordinates of each unmanned vehicle in the formation as the ordinate of the turning vertex;

[0066] Calculating the turning center point according to the turning vertex includes:

[0067] Taking the ordinate of the turning vertex as the ordinate of the turning center point. If the first offset direction is the left-turn direction, subtracting a preset turning distance from the abscissa of the turning vertex as the abscissa of the turning center point. If the first offset direction is the right-turn direction, adding a preset turning distance to the abscissa of the turning vertex as the abscissa of the turning center point.

[0068] As can be seen from the above description, determining the turning vertex based on the abscissa of the unmanned vehicle on the inner side of the turn in the unmanned vehicle formation and the maximum value of the ordinates of each unmanned vehicle in the formation; and determining the turning center point based on the turning vertex and the preset turning distance. In this way, all paths turn through this turning center point to achieve equal-distance parallelism of the turning path formation.

[0069] Further, calculating the turning radius of each unmanned vehicle in the formation according to the turning center point includes:

[0070] Taking the distance between the unmanned vehicle and the turning center point when each unmanned vehicle in the formation is on the horizontal line where the turning center point is located as the turning radius of the unmanned vehicle.

[0071] As described above, when different unmanned vehicles in the formation reach the horizontal line where the turning center point is located, the corresponding turning radius is calculated to ensure the equidistant turning of the unmanned vehicle formation.

[0072] The above method and terminal for equidistant turning of an unmanned vehicle formation of the present invention are applicable to maintaining the formation when the unmanned vehicle formation turns, and the following is described through specific embodiments:

[0073] Embodiment 1

[0074] Please refer to Figure 1 、 Figures 3 to 7 , a method for equidistant turning of an unmanned vehicle formation, including the steps:

[0075] S1. Obtain the target position of the formation and calculate the current path direction of the formation.

[0076] S11. Obtain the path point list of the current path of the formation, and traverse the path point list to obtain the set of the last path point and the set of the penultimate path point in the formation.

[0077] Specifically, according to the position of the mouse on the map, a longitude and latitude point lnglat (longitude, latitude) is input, and the target position is the end position of the unmanned vehicle formation. The last path point is the starting point of the turn. Assume that the path list of the unmanned vehicle formation is routes. Please refer to Table 1. Routes is an array and is a set of unmanned vehicle path objects.

[0078] Table 1 Unmanned Vehicle Path Object Information Table

[0079] Attribute Attribute Name Description ID Path ID routeName Path Name pathPoints List of Path Points Path Point Object Refer to Table 2

[0080] Table 2 Path Point Object Information Table

[0081]

[0082] Traverse the current path list routes of the unmanned vehicle formation, take the last path point of the unmanned vehicle formation as the last point, take the penultimate path point of the unmanned vehicle formation as the parent last point, and respectively obtain the last point set array lastArr and the parent last point set array grandArr of the unmanned vehicle formation in the current path.

[0083] S12. Calculate the center points of the set of the last path point and the set of the penultimate path point respectively, and calculate the current path direction of the formation according to the two calculated center points.

[0084] Specifically, traverse the last point set array lastArr. After summing the longitudes and latitudes of the last points respectively and then dividing by the length of the corresponding formation path, obtain the center point of the last points, which is the center point of the current position of the formation.

[0085] Traverse the grandparent last point set array grandArr. After summing the longitudes and latitudes of the grandparent last points respectively and then dividing by the length of the corresponding formation path, obtain the center point of the grandparent last points, which is the center point of the previous position of the formation.

[0086] Please refer to Figure 3 , after obtaining the coordinates of the two center points, the current path direction direct of the unmanned vehicle formation can be calculated.

[0087] S2. Calculate the offset direction of the formation based on the target position and the path direction, and obtain the path of the unmanned vehicle on the inner side of the turn in the formation according to the target position and the offset direction.

[0088] S21. Determine the first offset direction of the target position relative to the path direction and the second offset direction of the target position relative to the path of the unmanned vehicle in the formation.

[0089] Specifically, according to the last center point of the formation, the parent last midpoint, and the end position lnglat, calculate the first offset direction isLeft of the formation path, that is, calculate whether the lnglat point is on the left or right side of the formation path. In this embodiment, the lnglat point is on the right side of the formation path.

[0090] Traverse each unmanned vehicle path in routes. According to the last point, the parent last point, and the end position lnglat of the unmanned vehicle path, calculate the second offset direction defaultLeft of the formation path, that is, calculate whether the lnglat point is on the left or right side of the unmanned vehicle path, and at the same time calculate the distance dis from the last center point of the formation to the unmanned vehicle path.

[0091] S22. Obtain the unmanned vehicle path in the formation where the second offset direction is the same as the first offset direction and is the farthest from the center of the formation.

[0092] Specifically, judge whether isLeft is the same as defaultLeft. If they are different, skip; if they are the same, then judge which unmanned vehicle path is the outermost route according to dis. The route with the largest dis, that is, the route farthest from the center, is the outermost route.

[0093] Please refer to Figure 4, in this embodiment, there are routes 1, 2, and 3. Through this step of calculation, it can be known that the formation route turns right. Since routes 1 and 3 are on the right side of the center point, compare the distances between the last points of routes 1 and 3 and the formation center point. It is found that the last point of route 3 is the farthest from the formation end point. Therefore, route 3 is considered the outermost route.

[0094] S3. Determine the turning vertex of the formation based on the path of the unmanned vehicle on the inner side of the turn, and calculate the turning center point according to the turning vertex.

[0095] S31. Taking the center point of the formation as the origin, calculate the relative distance coordinates of each unmanned vehicle in the formation. Take the abscissa of the unmanned vehicle on the inner side of the turn in the formation as the abscissa of the turning vertex, and take the maximum value of the ordinates of each unmanned vehicle in the formation as the ordinate of the turning vertex.

[0096] Specifically, please refer to Figure 5 , through the last point and the parent last point of route 3, plus the preset turning radius parameter R, a turning center point center3 perpendicular to route 3 can be calculated. In this embodiment, the formation shape is a triangle. If center3 is used as the unified turning center point of the formation shape, the formation of each unmanned vehicle cannot be kept parallel after turning.

[0097] Therefore, according to the outermost route, its turning center point, and the formation shape parameters obtained from the above steps, calculate the turning vertex of the formation shape. The formation shape parameter offsets are shown in Table 3.

[0098] Table 3 Information Table of Formation Shape Parameters

[0099] Attribute Attribute Name Description ID Path ID dis Distance of the Driverless Vehicle Relative to the Center Point of the Formation Unit: meter deg Angle of the Driverless Vehicle Relative to the Center Point of the Formation Unit: °, with due north as 0°, rotating clockwise

[0100] Please refer to Figure 6 , taking the center point of the formation shape as the origin, through the distance and angle, the relative distance coordinates of each unmanned vehicle in the formation can be calculated. If the formation turns right, find the maximum value on the x-axis as the x value; on the contrary, if it turns left, find the minimum value on the x-axis as the x value, and take the maximum value on the y-axis as the y value to obtain the relative distance position (x, y) of the vertex of the formation shape in the left-right direction. Taking the following figure as an example, if the formation turns right, the turning vertex is (x3, y1).

[0101] S32. Take the ordinate of the turning vertex as the ordinate of the turning center point. If the first offset direction is the left-turn direction, subtract the preset turning distance from the abscissa of the turning vertex as the abscissa of the turning center point. If the first offset direction is the right-turn direction, add the preset turning distance to the abscissa of the turning vertex as the abscissa of the turning center point.

[0102] Specifically, based on the forward direction direct of the formation and the parameter defaultLeft used to determine whether the formation is facing left or right. If the formation turns right, add 90°, otherwise subtract 90° to obtain the angle perpendicular to the forward direction direct. By using the vertex longitude and latitude, the angle, and the fixed turning radius distance value, the turning center point of the vertex can be obtained. The formation can use the turning center point of the vertex as the unified turning center point.

[0103] S4. Calculate the turning radius of each unmanned vehicle in the formation according to the turning center point, and perform turning according to the turning radius.

[0104] Step S4 specifically includes: taking the distance between the unmanned vehicle and the turning center point when each unmanned vehicle in the formation is on the horizontal line where the turning center point is located as the turning radius of the unmanned vehicle.

[0105] In this embodiment, please refer to Figure 7 , there are three unmanned vehicles in the formation. Among them, p1 is the last point of the target unmanned vehicle path, and ptop is the last point of the leading vehicle path in the formation. Given the turning center point of the formation path, the current path direction direct of the formation, and the turning vertex, the turning radius of the unmanned vehicle can be calculated.

[0106] For an existing unmanned vehicle p1, point p2 is the entry point of point p1 into the turn. The direction of p1->p2 is the same as the direct direction, and center->p2 is perpendicular to direct, that is, the angle of the three points ∠p1p2center is 90°, so △p1p2center is a right triangle.

[0107] The turning vertex, ptop, and center are on the same line, and this line is perpendicular to direct. Then it can be deduced that the four points of the turning vertex, ptop, center, and p2 are on the same line. Then the angle of direct rotated by 90° is the angle of p2->center.

[0108] At the same time, according to the longitude and latitude points of p1 and center, the angle of p1->center can be calculated.

[0109] Then the angle of ∠p1centerp2 is the included angle of the above two angles.

[0110] Given ∠p1centerp2 and dis, the distance of p2center can be obtained by the cosine theorem.

[0111] The specific formula is as follows:

[0112] dis = the distance from p1 to center.

[0113] deg = direct + 90 - (direction angle from p1 to center).

[0114] Then the turning radius of p1 relative to the center point is Math.cos(deg) * dis.

[0115] Therefore, the driverless vehicle p1 can start turning from point p2 with a radius of r.

[0116] Embodiment 2

[0117] Please refer to Figure 2 , a terminal 1 for equidistant turning of a driverless vehicle formation, including a memory 2, a processor 3, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, it implements each step of the method for equidistant turning of a driverless vehicle formation in Embodiment 1.

[0118] In summary, for the method and terminal for equidistant turning of a driverless vehicle formation provided by the present invention, after obtaining the target position of the formation, first calculate the path direction according to the set of the last path point and the set of the penultimate path point in the current path of the formation; calculate the offset direction of the formation based on the target position and the path direction; determine the path of the driverless vehicle on the inner side of the formation turning according to the target position and the offset direction, and thereby confirm the turning vertex and the turning center point of the formation. Among them, the turning vertex is determined based on the abscissa of the driverless vehicle on the inner side of the turning in the driverless vehicle formation and the maximum value of the ordinates of each driverless vehicle in the formation; and the turning center point is determined based on the turning vertex and a preset turning distance. In this way, all paths turn through this turning center point, and the turning path formation is maintained equidistant and parallel. When different driverless vehicles in the formation reach the horizontal line where the turning center point is located, calculate the corresponding turning radius, which can adaptively provide the corresponding turning radius for driverless vehicles at different positions and ensure the equidistant turning of the driverless vehicle formation.

[0119] The above are only the embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent transformation made using the content of the specification and drawings of the present invention, or directly or indirectly applied in the relevant technical field, shall be equally included in the patent protection scope of the present invention.

Claims

1. A method for equidistant turning of a formation of driverless vehicles, characterized in that, Including the steps: Obtain the target position of the formation, and calculate the current path direction of the formation; Calculate the offset direction of the formation based on the target position and the path direction, and obtain the path of the unmanned vehicle on the inner side of the turn in the formation according to the target position and the offset direction, including: Determine the first offset direction of the target position relative to the path direction and the second offset direction of the target position relative to the path of the unmanned vehicle in the formation; Obtain the path of the unmanned vehicle in the formation of the unmanned vehicle where the second offset direction is the same as the first offset direction and is the farthest from the center of the formation; Determine the turning vertex of the formation based on the path of the unmanned vehicle on the inner side of the turn, and calculate the turning center point according to the turning vertex, including: Taking the center point of the formation as the origin, calculate the relative distance coordinates of each unmanned vehicle in the formation, take the abscissa of the unmanned vehicle on the inner side of the turn in the formation as the abscissa of the turning vertex, and take the maximum value of the ordinates of each unmanned vehicle in the formation as the ordinate of the turning vertex; Take the ordinate of the turning vertex as the ordinate of the turning center point. If the first offset direction is the left-turn direction, subtract the preset turning distance from the abscissa of the turning vertex as the abscissa of the turning center point. If the first offset direction is the right-turn direction, add the preset turning distance to the abscissa of the turning vertex as the abscissa of the turning center point; Calculate the turning radius of each unmanned vehicle in the formation according to the turning center point, and perform turning according to the turning radius, including: Take the distance between the unmanned vehicle and the turning center point when each unmanned vehicle in the formation is on the horizontal line where the turning center point is located as the turning radius of the unmanned vehicle.

2. The method for equidistant turning of an unmanned vehicle formation according to claim 1, characterized in that, Calculating the current path direction of the formation includes: Obtain the path point list of the current path of the formation, and traverse the path point list to obtain the set of the last path point and the set of the penultimate path point in the formation; Calculate the center points of the set of the last path point and the set of the penultimate path point respectively, and calculate the current path direction of the formation according to the two calculated center points.

3. A terminal for equidistant turning of an unmanned vehicle formation, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, the following steps are implemented: Obtain the target position of the formation, and calculate the current path direction of the formation; Calculate the offset direction of the formation based on the target position and the path direction, and obtain the path of the unmanned vehicle on the inner side of the turn in the formation according to the target position and the offset direction, including: Determine the first offset direction of the target position relative to the path direction and the second offset direction of the target position relative to the path of the unmanned vehicle in the formation; Obtain the path of the unmanned vehicle in the formation of the unmanned vehicle where the second offset direction is the same as the first offset direction and is the farthest from the center of the formation; Determine the turning vertex of the formation based on the path of the unmanned vehicle on the inner side of the turn, and calculate the turning center point according to the turning vertex, including: Taking the center point of the formation as the origin, calculate the relative distance coordinates of each unmanned vehicle in the formation. Use the abscissa of the unmanned vehicle on the inner side of the turn in the formation as the abscissa of the turning vertex, and use the maximum value of the ordinates of each unmanned vehicle in the formation as the ordinate of the turning vertex; Use the ordinate of the turning vertex as the ordinate of the turning center point. If the first deviation direction is the left-turn direction, subtract the preset turning distance from the abscissa of the turning vertex to obtain the abscissa of the turning center point. If the first deviation direction is the right-turn direction, add the preset turning distance to the abscissa of the turning vertex to obtain the abscissa of the turning center point; Calculate the turning radius of each unmanned vehicle in the formation according to the turning center point, and perform a turn according to the turning radius, including: Use the distance between the unmanned vehicle and the turning center point when each unmanned vehicle in the formation is on the horizontal line where the turning center point is located as the turning radius of the unmanned vehicle.

4. The terminal for equidistant turning of a platoon of driverless vehicles according to claim 3, characterized in that, Calculating the current path direction of the formation includes: Obtain the path point list of the current path of the formation, and traverse the path point list to obtain the set of the last path point and the set of the penultimate path point in the formation; Calculate the center points of the set of the last path point and the set of the penultimate path point respectively, and calculate the current path direction of the formation according to the two calculated center points.

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