A vehicle following control method and related devices

Abstract

The present invention discloses a vehicle following control method and related devices. The method includes: obtaining the driving information of the vehicle to be followed, where the driving information includes wind speed information and vehicle speed information; using the vehicle driving information as the input of a wake vortex simulation model to obtain the simulated following position of the target vehicle; obtaining the information of following vehicle lane interfering following objects of the vehicle to be followed and the information of following vehicle lane interfering following objects of the target vehicle; and controlling the target vehicle to follow based on the information of following vehicle lane interfering following objects, the information of following vehicle lane interfering following objects, and the simulated following position. The vehicle following control method proposed in the embodiments of the present application simultaneously considers the wind speed information and the vehicle speed information to obtain the simulated following position, and the obtained result is more accurate. When there are interfering following objects, it is proposed to execute a lane change strategy and / or control the vehicle speed for following, so as to avoid the risk of collision during following.

Description

Technical Field

[0001] This specification relates to the field of vehicle control. More specifically, the present invention relates to a following vehicle control method and related devices. Background Art

[0002] Aerodynamic drag is generally characterized by the drag coefficient. For fuel vehicles, a 10% decrease in the drag coefficient results in approximately a 3% reduction in fuel consumption. For electric vehicles, a 0.02 decrease in the drag coefficient results in an approximate 10 km increase in the cruising range. Vehicle platooning significantly reduces the drag experienced by each vehicle because the total pressure in the wake region is relatively small. Therefore, when a vehicle travels within the wake region of the vehicle in front, it will experience less pressure drag. This reduction in drag means less fuel consumption, higher fuel efficiency, and less pollution. In some current following vehicle schemes, the wake region is usually estimated based on the speed of the vehicle in front, and the following vehicle is controlled to enter the wake region to save fuel. However, the current following vehicle methods cannot accurately determine the wake region based on wind speed and different vehicle models, greatly reducing the energy-saving effect. When vehicles follow each other in adjacent lanes, the leading vehicle and the following vehicle occupy two lanes. Therefore, it is necessary to control vehicle travel based on interference object information. Summary of the Invention

[0003] A series of simplified concepts are introduced in the Summary of the Invention section, which will be further elaborated in the Detailed Description section. The Summary of the Invention section of the present invention is not intended to attempt to define the key features and essential technical features of the claimed technical solution, nor is it intended to determine the protection scope of the claimed technical solution.

[0004] To provide a more energy-saving and convenient following vehicle method, in a first aspect, the present invention proposes a following vehicle control method, which includes:

[0005] Obtain the driving information of the vehicle to be followed, where the driving information includes wind speed information and vehicle speed information;

[0006] Use the vehicle driving information as the input of the wake simulation model to obtain the simulated following vehicle position of the target vehicle, where the wake simulation model is obtained through iterative training based on the fluid dynamics simulation method and the neural network method;

[0007] Obtain the interference following vehicle object information of the current driving lane of the vehicle to be followed and the interference following vehicle object information of the following vehicle lane of the target vehicle;

[0008] Control the target vehicle to follow based on the interference following vehicle object information of the current driving lane, the interference following vehicle object information of the following vehicle lane, and the simulated following vehicle position.

[0009] Optionally, the driving information further includes wind speed information.

[0010] Optionally, the above method further includes:

[0011] Constructing a variety of three-dimensional flow field simulation models based on the hydrodynamic simulation method and the vehicle shape database;

[0012] Performing simulation based on the vehicle speed database, the wind speed database, and the above three-dimensional flow field simulation models to obtain a preset simulation following vehicle position;

[0013] Performing iterative training based on the wake measurement data of the following vehicle test and the above preset simulation following vehicle position by means of the neural network method to obtain the above wake simulation model.

[0014] Optionally, the above method further includes:

[0015] Obtaining the head pressure data and the tail pressure data obtained by the target vehicle at different positions in the wake area corresponding to the vehicle to be followed;

[0016] Obtaining the above wake measurement data of the following vehicle test based on the above head pressure data and the tail pressure data.

[0017] Optionally, the above controlling the target vehicle to perform following driving based on the above current driving lane interfering following vehicle information, the above following lane interfering following vehicle information, and the above simulation following vehicle position includes:

[0018] When the vehicle to be followed is following in an adjacent lane and there are interfering following vehicles in the current driving lane or the following lane, controlling the vehicle to be followed or the target vehicle to perform following driving in the same lane;

[0019] Controlling the vehicle speeds of the vehicle to be followed and the target vehicle based on the positions of the above interfering following vehicles;

[0020] When the distance between the following vehicle and the target vehicle is greater than a first distance, controlling the vehicle to be followed and the target vehicle to perform following driving in adjacent lanes.

[0021] Optionally, the above controlling the vehicle speeds of the vehicle to be followed and the target vehicle based on the positions of the above interfering following vehicles includes:

[0022] Controlling the vehicle in the lane corresponding to the non-existence of the above interfering object to decelerate, so that the vehicle in the lane where the interfering object exists can change lanes and cut in;

[0023] When the distance between the following vehicle and the target vehicle is less than or equal to the first distance, controlling the speed of the following vehicle to be less than or equal to the speed of the preceding vehicle.

[0024] Optionally, controlling the target vehicle to follow the vehicle based on the above-mentioned current driving lane interfering following vehicle object information, the above-mentioned following lane interfering following vehicle object information, and the above-mentioned simulated following position includes:

[0025] When the vehicle to be followed is following in an adjacent lane and there is an interfering following vehicle object in the current driving lane or the following lane, controlling the vehicle to be followed or the target vehicle to drive in the third lane;

[0026] When the distance between the following vehicle object and the following vehicle and the target vehicle is greater than the first distance, controlling the vehicle to be followed and the target vehicle to follow in an adjacent lane.

[0027] In a second aspect, the present invention also provides a following vehicle control device, including:

[0028] A first acquisition unit, configured to acquire the driving information of the vehicle to be followed, where the driving information includes wind speed information and vehicle speed information;

[0029] A second acquisition unit, configured to use the above-mentioned vehicle driving information as an input to a wake vortex simulation model to obtain the simulated following position of the target vehicle;

[0030] A third acquisition unit, configured to acquire the current driving lane interfering following vehicle object information of the vehicle to be followed and the following lane interfering following vehicle object information of the target vehicle;

[0031] A control unit, configured to control the target vehicle to follow the vehicle based on the above-mentioned current driving lane interfering following vehicle object information, the above-mentioned following lane interfering following vehicle object information, and the above-mentioned simulated following position.

[0032] In a third aspect, an electronic device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor is configured to implement the steps of the following vehicle control method according to any one of the first aspects when executing the computer program stored in the memory.

[0033] In a fourth aspect, the present invention also provides a computer-readable storage medium, on which a computer program is stored, and the computer program implements the following vehicle control method according to any one of the first aspects when executed by a processor.

[0034] In summary, the following is the vehicle following control method according to the embodiments of the present application: obtaining the driving information of the vehicle to be followed, where the driving information includes wind speed information and vehicle speed information; using the vehicle driving information as the input of the wake vortex simulation model to obtain the simulated following position of the target vehicle; obtaining the information of the following vehicle objects interfering with the current driving lane of the vehicle to be followed and the information of the following vehicle objects interfering with the following lane of the target vehicle; and controlling the target vehicle to follow based on the information of the following vehicle objects interfering with the current driving lane, the information of the following vehicle objects interfering with the following lane, and the simulated following position. The vehicle following control method proposed in the embodiments of the present application simultaneously considers the wind speed information and the vehicle speed information to obtain the simulated following position, and the obtained result is more accurate. When there are interfering following objects, a lane change strategy and / or vehicle speed control are performed for following, avoiding the risk of collision during following.

[0035] The vehicle following control method of the present invention, other advantages, objectives, and features of the present invention will be partially reflected by the following description, and will also be understood by those skilled in the art through the research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered as a limitation of this specification. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0037] Figure 1 It is a schematic flowchart of a vehicle following control method provided by an embodiment of the present application;

[0038] Figure 2 It is a schematic diagram of the measurement principle of vehicle following related parameters provided by an embodiment of the present application;

[0039] Figure 3 It is a schematic diagram of the structure of a wind measurement system provided by an embodiment of the present application;

[0040] Figure 4 It is the first schematic diagram of vehicle formation driving provided by an embodiment of the present application;

[0041] Figure 5 It is the second schematic diagram of vehicle formation driving provided by an embodiment of the present application;

[0042] Figure 6 It is the third schematic diagram of vehicle formation driving provided by an embodiment of the present application;

[0043] Figure 7 It is the fourth schematic diagram of vehicle formation driving provided by an embodiment of the present application;

[0044] Figure 8 The fifth schematic diagram of vehicle platoon driving provided by the embodiment of the present application;

[0045] Figure 9 The sixth schematic diagram of vehicle platoon driving provided by the embodiment of the present application;

[0046] Figure 10 The seventh schematic diagram of vehicle platoon driving provided by the embodiment of the present application;

[0047] Figure 11 The eighth schematic diagram of vehicle platoon driving provided by the embodiment of the present application;

[0048] Figure 12 The structural schematic diagram of a following vehicle control device provided by the embodiment of the present application;

[0049] Figure 13 The structural schematic diagram of a following vehicle control electronic device provided by the embodiment of the present application. Specific embodiments

[0050] The following vehicle control method proposed by the embodiment of the present application simultaneously considers the wind speed information and the vehicle speed information to obtain the simulated following vehicle position, and the obtained result is more accurate. When there is an interfering following vehicle, it proposes to execute a lane change strategy and / or control the vehicle speed for following vehicle driving to avoid the collision risk during following vehicle driving.

[0051] The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of the present application are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments described herein can be implemented in an order different from that shown or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those clearly listed steps or units, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices. The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments.

[0052] Please refer to Figure 1 , which is a schematic flow diagram of a following vehicle control method provided by the embodiment of the present application, and specifically may include:

[0053] S110. Obtain the driving information of the vehicle to be followed, where the driving information includes wind speed information and vehicle speed information;

[0054] Exemplarily, the vehicle to be followed is the leading vehicle. A millimeter-wave radar is installed at the front of the vehicle to identify the position and relative speed of the leading vehicle, and the speed of the leading vehicle is calculated based on the current vehicle speed. It can be understood that if the leading vehicle can communicate with the following vehicle, the speed of the leading vehicle can also be measured by the ECU (Electronic Control Unit) of the leading vehicle and the measurement result can be transmitted to the following vehicle or the cloud for calculating the following strategy. The wind speed information can also be obtained by a wind speed measurement system on the roadside. When entering a bridge or a tunnel, the crosswind level will suddenly change to a relatively large value, which poses a great safety hazard to the following or formation driving of vehicles. During high-speed driving, due to the influence of air flow, it is very easy to have phenomena such as rollover. Therefore, it is necessary to measure the crosswind magnitude at the tunnel entrance and the bridge and give early warnings to vehicles so that the vehicles can disband the formation or adjust the following strategy in time before entering the tunnel or the bridge. In some vehicles, the wind speed can be measured in the way as Figure 2 shown. In some target vehicles implementing the following strategy, a five-hole probe can be installed at the front of the vehicle and connected to a high-precision ALPHA sensor to identify the yaw angle. The wind speed facing the front of the vehicle is measured by a pitot tube, and the direction and intensity of the crosswind are calculated based on the current vehicle speed. In some other vehicles, the wind speed can be measured in the way as Figure 3 shown. A measuring device is set on the open space at the entrance of the tunnel or the bridge. A base 101 is set on the open space, which includes two first sliding devices 102 and a second sliding device 103. The second slide rail 1032 of the second sliding device 103 is installed on the first sliders 1021 of the two first sliding devices 102. Guide devices 106 are fixed at both ends of the first slider 1021 and on the base 101. A first motor 1051 and a second motor 1052 are installed on the base 101. A transmission belt 107 envelopes the output shafts of the first motor 1051 and the second motor 1052 and the guide devices 106 installed on the first slider 1021 and the base 101, forming a "work" shape. By controlling the rotation speed of the motor, the moving direction of the wind measurement component 104 fixedly connected to the second slider 1031 can be controlled, so as to control the crosswind component to move to a designated location to measure the wind speed and direction.

[0055] (when v ≤ 3m / s)

[0056] R1 is the rotation speed magnitude of the first motor, v is the measured wind speed magnitude, a and b are constants. The smaller the measured wind speed v is, the greater the rotation speed of the first motor or the second motor is, ensuring the rapid movement of the second slider. R2 is the rotation speed magnitude of the second motor. The smaller the measured wind speed v is, the smaller the difference between R1 and R2 is, keeping the second slider moving horizontally or vertically; the greater the measured wind speed v is, the greater the difference between R1 and R2 is, and then it moves along the inclined direction.

[0057] (When v > 3 m / s)

[0058] When v > 3 m / s, i and j are the rotation directions of the first motor and the second motor, with the clockwise direction being the positive direction, n is a constant, the rotational speed R2 and direction of the second motor adaptively adjust following the rotational speed and direction of the first motor, c is the measured wind direction angle, with the horizontal right - hand side angle being 0, and the counter - clockwise angle increasing (for example, when the wind direction points to the right of the horizontal axis, c = 0, ntanc = 0, and the requirement is that the second slider needs to move horizontally to the left or right to be parallel to the wind direction. At this time, iR1 + jR2 = 0, and the physical meaning is that the first motor and the second motor have the same rotational speed and opposite directions). n is a proportionality coefficient. Through this method, the first motor and the second motor control the second slider to slowly translate along the direction parallel to the wind direction. In summary, the following - vehicle control method proposed in the embodiments of the present application, by obtaining the wind speed information obtained at the bridge or tunnel entrance, can consider the impact of strong winds at the bridge and tunnel entrances on the wake vortex and vehicle driving safety, and provide a safer method for vehicle following.

[0059] S120. Use the vehicle driving information as the input of the wake - vortex simulation model to obtain the simulated following - vehicle position of the target vehicle, where the wake - vortex simulation model is obtained through iterative training based on the fluid mechanics simulation method and the neural network method;

[0060] Exemplarily, the wake - vortex simulation model can be installed on the target vehicle or in the cloud. Before the target vehicle follows another vehicle, by using the recognized vehicle wind speed information and vehicle speed information as inputs, the wake - vortex simulation model is used to calculate the simulated following - vehicle position. The error between the determined following - vehicle position and the position with the maximum actual wake - vortex intensity is smaller, and a faster and more accurate following - vehicle strategy can be realized.

[0061] S130. Obtain the information of following - vehicle interfering objects in the current driving lane of the vehicle to be followed and the information of following - vehicle interfering objects in the following - vehicle lane of the target vehicle;

[0062] Exemplarily, when a vehicle follows another vehicle or drives in a formation in an adjacent lane, it will occupy two lanes, namely the driving lane and the overtaking lane on the highway, and the speed of following or formation driving is relatively stable, which affects the passage of other vehicles. At the same time, it also affects the vehicle's emergency lane - changing for avoiding danger when encountering interfering following - vehicle objects. When there is a situation where a vehicle needs to change lanes in front, such as the vehicle in front decelerating, placing a tripod, or having sundries occupying the road (referred to as the front target object); when there is a situation where a vehicle needs to change lanes behind, it is that the vehicle behind is accelerating to overtake (referred to as the rear target object).

[0063] S140. Control the target vehicle to follow the vehicle based on the information of following - vehicle interfering objects in the current driving lane, the information of following - vehicle interfering objects in the following - vehicle lane, and the simulated following - vehicle position.

[0064] Exemplarily, according to different lanes (the current driving lane of the vehicle to be followed and the following lane of the target vehicle) and different positions (in front of or behind the vehicle, where the vehicle includes the vehicle to be followed and the target vehicle), based on the different positions of the interfering object, when there is no interfering following object, follow or form a formation according to the simulated following position calculated based on the wake vortex simulation model. When encountering an interfering following object, execute a lane-changing strategy and / or control the vehicle speed for following to avoid the risk of collision during following.

[0065] In summary, the following control method proposed in the embodiments of the present application simultaneously considers the wind speed information and the vehicle speed information to obtain the simulated following position, and the result is more accurate. It also proposes that when an interfering following object appears, execute a lane-changing strategy and / or control the vehicle speed for following to avoid the risk of collision during following.

[0066] In some examples, the above driving information further includes the shape information.

[0067] Exemplarily, not only the wind speed and vehicle speed of the vehicle will affect the distribution of the wake vortex, but also due to the different shapes of the vehicles, that is, the length, width, height or the shape of the vehicle will affect the flow field formed by the air flowing through the vehicle in front during vehicle driving, and the wake vortex regions formed by different-shaped vehicles under the same driving conditions are not the same. The shape information of the vehicle can be obtained through the front radar of the target vehicle.

[0068] In summary, the following control method proposed in the present application also considers the influence of the shape of the vehicle in front on the wake vortex of the vehicle in front, and the obtained simulated following position is more accurate.

[0069] In some examples, the above method further includes:

[0070] Construct a variety of three-dimensional flow field simulation models based on the fluid mechanics simulation method and the vehicle shape database;

[0071] Perform simulation based on the vehicle speed database, the wind speed database and the above three-dimensional flow field simulation model to obtain the preset simulated following position;

[0072] Perform iterative training based on the neural network method through the measured data of the wake vortex in the following test and the above preset simulated following position to obtain the above wake vortex simulation model.

[0073] Exemplarily, by means of computational fluid dynamics, a wake vortex simulation model of the leading vehicle is obtained. The simulation model includes a database of the shapes of the vehicles to be followed, a database of vehicle speeds, and a database of wind speeds. The inputs of the wake vortex simulation model include simulation parameters of crosswind speed and crosswind direction, simulation parameters of the speed of the leading vehicle, and shape parameters of the leading vehicle. The output of the wake vortex simulation model is the coordinate simulation parameters of the position with a relatively strong negative pressure in the wake vortex of the leading vehicle, that is, the simulated following position. When the intensity of the crosswind is relatively large, the wake vortex of the leading vehicle will shift to the adjacent lane, and the simulated following position will also shift to the adjacent lane accordingly to achieve close following, thus avoiding the minimum 50 m following distance in the same lane on the highway stipulated by the regulations by using the crosswind. Combining the simulated following position output by the flow field simulation model with the measured wake vortex data obtained from the following vehicle experiment to construct a neural network for iterative training can obtain a trained wake vortex simulation model. The trained wake vortex simulation model can be installed on the target vehicle to determine the simulated following position according to the recognized shape information, speed information, and wind speed information of the leading vehicle. By using the wake vortex simulation model trained by the neural network, the calculation speed is faster, the error between the determined following position and the position with the maximum actual wake vortex intensity is smaller, and a faster and more accurate following strategy can be realized.

[0074] Specifically, the steps for constructing a trained wake vortex simulation model may include the following:

[0075] S210. Construct an initial neural network model;

[0076] With the goal of minimizing the error between the measured value of the position with a relatively strong negative pressure in the wake vortex of the leading vehicle output by the initial neural network model and the actual position of the relatively strong negative pressure in the wake vortex of the leading vehicle, input the simulation parameters of crosswind speed and direction, the simulation parameters of the speed of the leading vehicle, and the shape parameters of the leading vehicle into the initial neural network model for iterative training to obtain a target neural network model for obtaining the measured value of the position with a relatively strong negative pressure in the wake vortex of the leading vehicle (simulated following position). The type of the initial neural network model can be a feedback neural network model, a deep learning neural network model, a convolutional neural network model, etc., which is not limited herein. According to the type of the initial neural network model, the operation of step training can be completed. Specifically, the initial neural network model can be understood as an untrained target neural network model, which can input the simulation parameters of crosswind speed and direction and the simulation parameters of the speed of the leading vehicle, and through neural network calculation, output the measured value of the initial position with a relatively strong negative pressure in the wake vortex of the leading vehicle. Generally, the initial neural network model can include an input layer, a hidden layer, and an output layer. The hidden layer is responsible for the relevant calculations of the neural network. Through iterative training, the relevant transfer function parameters such as the weight parameters in the hidden layer can be gradually adjusted to make the measured signal of the initial vertical displacement of the wheel center output by the initial neural network model meet the established training goal. At this time, the initial neural network model can be considered as the target neural network model, and the measured value of the initial position with a relatively strong negative pressure in the wake vortex of the leading vehicle output by it can be recognized as the measured value of the position with a relatively strong negative pressure in the wake vortex of the leading vehicle.

[0077] S220. Obtain the initial simulation model of the wake vortex of the leading vehicle, including: obtaining the initial simulation model of the wake vortex of the leading vehicle, inputting the crosswind speed parameter, crosswind direction parameter, speed parameter of the vehicle to be followed, and the shape parameter of the vehicle to be followed into the initial simulation model of the wake vortex for simulation, and obtaining the coordinate simulation parameters of the position with stronger negative pressure of the wake vortex of the leading vehicle output by the initial simulation model of the wake vortex. By means of computational fluid dynamics, obtain the simulation model of the wake vortex of the leading vehicle; wherein, the specific vehicle model with known external dimension parameters in the selected database of the leading vehicle is the target type vehicle (also known as the leading vehicle), the input of the wake vortex simulation model includes the crosswind speed and direction simulation parameters, the speed simulation parameter of the leading vehicle, and the output of the wake vortex simulation model is the coordinate simulation value of the position with stronger negative pressure of the wake vortex of the leading vehicle, that is, the preset simulation following position.

[0078] S230. Obtain the measured data of the wake vortex in the following vehicle test. Based on the crosswind speed, direction and vehicle speed of the actual operation of the target type vehicle, and obtain the test sensing signal through the vehicle sensor group on the vehicle behind the target type vehicle; wherein, the vehicle sensor group includes one or more of an ALPHA sensor, a pitot tube, a pressure sensor, a millimeter wave radar, and a camera. Based on the test sensing signal and the simulation output value, optimize the initial simulation model of the wake vortex of the leading vehicle into the simulation model of the wake vortex of the leading vehicle.

[0079] S240. Train a neural network model according to the initial simulation data of the wake vortex and the measured data of the wake vortex in the following vehicle test to obtain the simulation model of the wake vortex. Taking the minimum error between the initial simulation data and the measured data of the wake vortex in the following vehicle test as the goal, input the crosswind speed and direction simulation parameters and the speed simulation parameter of the leading vehicle into the initial neural network model for iterative training to obtain the target neural network model for the measured value of the position with stronger negative pressure of the wake vortex of the leading vehicle. Specifically, using the simulation model of the wake vortex of the leading vehicle obtained in step S220, multiple groups of crosswind speed and direction simulation parameters, speed simulation parameters of the leading vehicle, coordinate simulation values of the position with stronger negative pressure of the wake vortex of the leading vehicle (preset simulation following position), and measured data of the wake vortex in the following vehicle test that meet the test accuracy can be obtained, and thus a training set of the initial neural network model is constructed to complete the iterative training of the initial neural network model and obtain the target neural network model for the measured value of the position with stronger negative pressure of the wake vortex of the leading vehicle, that is, the simulation model of the wake vortex.

[0080] In summary, the following vehicle control method proposed in the embodiment of the present application uses the trained wake vortex simulation model to determine the simulation following position according to the recognized external shape information, vehicle speed information and wind speed information of the leading vehicle, with faster calculation speed, smaller error between the determined following position and the position with the maximum actual wake vortex intensity, and can realize a faster and more accurate following strategy, and can effectively save the energy consumption of the following vehicle.

[0081] In some examples, controlling the target vehicle to follow a vehicle based on the above-mentioned current driving lane interfering following vehicle information, the above-mentioned following lane interfering following vehicle information, and the above-mentioned simulated following position includes:

[0082] When the vehicle to be followed is following a vehicle in an adjacent lane and there is an interfering following vehicle in the current driving lane or the following lane, controlling the vehicle to be followed or the target vehicle to follow a vehicle in the same lane;

[0083] Controlling the vehicle speeds of the vehicle to be followed and the target vehicle based on the position of the interfering following vehicle;

[0084] When the distance between the following vehicle and the vehicle to be followed and the target vehicle is greater than a first distance, controlling the vehicle to be followed and the target vehicle to follow a vehicle in an adjacent lane.

[0085] Exemplarily, when two vehicles are following a vehicle in adjacent lanes and there is an interfering following object in a certain lane, the two vehicles can drive into the same lane and increase the following distance to avoid the interfering following object. Figures 4 - 7 Some application scenarios are given, where the leading vehicle is the vehicle to be followed and the trailing vehicle is the target vehicle.

[0086] Such as Figure 4 As shown, for the case of close following of a leading vehicle and a trailing vehicle in adjacent lanes, the leading vehicle is driving in the first lane and the trailing vehicle is driving in the second lane. When the leading vehicle encounters a target in front and needs to change lanes to the trailing vehicle's driving lane, the leading vehicle combines its maximum lateral speed vx for stable driving and the distance d required to reach the adjacent lane to calculate the required lane-changing driving time t = d / vx. Compare the distance s between the leading vehicle and the target in front, the relative speed v, and the product of the lane-changing driving time t. When the distance s between the leading vehicle and the target in front is greater than the product of the relative speed v and the lane-changing driving time t, the leading vehicle maintains its current vehicle speed and switches to the second lane, and the trailing vehicle decelerates to increase the vehicle distance. After avoiding the target in front, it resumes following in the original state. When the distance s between the leading vehicle and the target in front is less than the product of the relative speed v and the lane-changing driving time t, the leading vehicle decelerates and switches to the second lane, and the trailing vehicle decelerates and switches to the emergency lane. When decelerating, the speed of the trailing vehicle is always not greater than that of the leading vehicle. After avoiding the target in front, it resumes following in the original state. When the trailing vehicle encounters a target in front, the trailing vehicle needs to change lanes to the leading vehicle's driving lane. The trailing vehicle decelerates and switches to the first lane to increase the vehicle distance. After avoiding the target in front, it resumes following in the original state.

[0087] Such as Figure 5As shown in the figure, the leading vehicle is driving in the second lane and the following vehicle is driving in the first lane. When the leading vehicle encounters a target ahead and needs to change lanes to the following vehicle's driving lane or the emergency lane, the leading vehicle combines its maximum lateral speed vx for stable driving and the distance d required to reach the adjacent lane or the emergency lane, and calculates the required lane-changing driving time t = d / vx. Compare the distance s between the leading vehicle and the target ahead, the product of the relative speed v and the lane-changing driving time t. When the distance s between the leading vehicle and the target ahead is greater than the product of the relative speed v and the lane-changing driving time t, the leading vehicle maintains its current speed and switches to the first lane, and the following vehicle decelerates to increase the distance. After avoiding the target ahead, it resumes following in the original state. When the distance s between the leading vehicle and the target ahead is less than the product of the relative speed v and the lane-changing driving time t, the leading vehicle decelerates and switches to the emergency lane, and the following vehicle maintains its current speed and driving lane. After avoiding the target ahead, it resumes following in the original state. When the following vehicle encounters a target ahead, the following vehicle needs to change lanes to the leading vehicle's driving lane. The following vehicle decelerates and switches to the second lane to increase the distance. After avoiding the target ahead, it resumes following in the original state.

[0088] As Figure 6 shown in the figure, the leading vehicle is driving in the first lane and the following vehicle is driving in the second lane. When the following vehicle encounters a target behind and needs to change lanes to the leading vehicle's driving lane, the following vehicle combines its maximum lateral speed vx for stable driving and the distance d required to reach the adjacent lane, and calculates the required lane-changing driving time t = d / vx. Compare the distance s between the following vehicle and the target behind, the product of the relative speed v and the lane-changing driving time t. When the distance s between the following vehicle and the target behind is greater than the product of the relative speed v and the lane-changing driving time t, the following vehicle maintains its current speed and switches to the first lane, and the leading vehicle accelerates to increase the distance. After avoiding the target behind, it resumes following in the original state. When the distance s between the following vehicle and the target behind is less than the product of the relative speed v and the lane-changing driving time t, the following vehicle accelerates and switches to the emergency lane, and the leading vehicle maintains its current speed and driving lane. After avoiding the target ahead, it resumes following in the original state. When the leading vehicle encounters a target behind, the leading vehicle needs to change lanes to the following vehicle's driving lane. The leading vehicle accelerates and switches to the second lane to increase the distance. After avoiding the target ahead, it resumes following in the original state.

[0089] As Figure 7As shown in the figure, the leading vehicle is driving in the second lane, and the following vehicle is driving in the first lane. When the following vehicle encounters an object ahead and needs to change lanes to the driving lane of the leading vehicle, the following vehicle calculates the required lane-changing driving time t = d / vx by combining its maximum lateral speed vx for stable driving and the distance d required to reach the adjacent lane. Compare the distance s between the following vehicle and the object ahead, the relative speed v, and the product of the lane-changing driving time t. When the distance s between the following vehicle and the object ahead is greater than the product of the relative speed v and the lane-changing driving time t, the following vehicle maintains its current speed and switches to the second lane, and the leading vehicle accelerates to increase the distance. After avoiding the object ahead, it resumes following in the original state. When the distance s between the following vehicle and the object ahead is less than the product of the relative speed v and the lane-changing driving time t, the following vehicle accelerates and switches to the second lane, and the leading vehicle accelerates and switches to the emergency lane. The speed of the leading vehicle during acceleration is always not less than that of the following vehicle. After avoiding the object ahead, it resumes following in the original state. When the leading vehicle encounters an object ahead, the leading vehicle needs to change lanes to the driving lane of the following vehicle. The leading vehicle accelerates and switches to the first lane to increase the distance. After avoiding the object ahead, it resumes following in the original state.

[0090] In summary, in the vehicle-following control method proposed in this application, during the process of two vehicles following each other in adjacent lanes, if there is an interfering vehicle-following object in a certain lane, the speeds of the two vehicles are controlled to drive in the same lane at a safe vehicle-following distance to avoid the interfering vehicle-following object and prevent danger from occurring.

[0091] In some examples, controlling the speeds of the vehicle to be followed and the target vehicle based on the position of the above-mentioned interfering vehicle-following object includes:

[0092] Controlling the vehicle corresponding to the lane where the above-mentioned interfering object does not exist to decelerate, so that the vehicle corresponding to the lane where the interfering object exists can change lanes and cut in;

[0093] When the distance between the above-mentioned vehicle-following object and the vehicle to be followed and the target vehicle is less than or equal to the first distance, controlling the speed of the following vehicle to be less than or equal to the speed of the leading vehicle.

[0094] Exemplarily, in the presence of an interfering object, controlling the leading vehicle to accelerate or the following vehicle to decelerate to increase the distance between the leading vehicle and the following vehicle, so that the vehicle to be followed and the target vehicle can ensure a safe vehicle distance and drive in the same lane to avoid accidents such as rear-end collisions.

[0095] In some examples, controlling the target vehicle to follow based on the above-mentioned interfering vehicle-following object information in the current driving lane, the interfering vehicle-following object information in the following lane, and the simulated following position includes:

[0096] When the vehicle to be followed is following in an adjacent lane and there is an interfering vehicle-following object in the current driving lane or the following lane, controlling the vehicle to be followed or the target vehicle to drive in the third lane;

[0097] When the distance between the following object and the following vehicle and the target vehicle is greater than the first distance, control the following vehicle and the target vehicle to follow and drive in adjacent lanes.

[0098] Exemplarily, during the process of platooning in adjacent lanes, when there is an interfering following object in the current driving lane or the following lane, control the vehicle platooning in the lane where the interfering following object exists to drive into the third lane (which can also be the emergency lane) for avoidance.

[0099] As Figure 8 shown, for the case of close - range platooning of multiple vehicles in adjacent lanes, the first vehicle directly behind the front target object is called the lead vehicle. The lead vehicle drives in the first lane, and the remaining vehicles are alternately platooned in the first lane and the second lane. When the lead vehicle encounters a front target object and needs to change lanes to the second lane, the lead vehicle calculates the required lane - change driving time t = d / vx by combining its maximum lateral speed vx for stable driving and the distance d required to reach the adjacent lane. Compare the distance s between the lead vehicle and the front target object, the relative speed v, and the product of the lane - change driving time t. When the distance s between the lead vehicle and the front target object is greater than the product of the relative speed v and the lane - change driving time t, the lead vehicle maintains the current vehicle speed and switches to the second lane, and the remaining vehicles synchronously maintain the current vehicle speed and change lanes, switching to the second lane and the emergency lane. The entire platoon is alternately arranged in the second lane and the emergency lane, and after avoiding the front target object, it resumes the original - state platooning. When the distance s between the lead vehicle and the front target object is less than the product of the relative speed v and the lane - change driving time t, the lead vehicle decelerates and switches to the second lane, and the remaining vehicles synchronously decelerate and change lanes, switching to the second lane and the emergency lane. The entire platoon is alternately arranged in the second lane and the emergency lane, and after avoiding the front target object, it resumes the original - state platooning.

[0100] As Figure 9As shown in the figure, the leading vehicle is traveling in the second lane, and the remaining vehicles are alternately formed in the first and second lanes. When the leading vehicle encounters an object ahead and needs to change lanes to the emergency lane, the leading vehicle combines its maximum lateral speed vx for stable driving and the distance d required to reach the adjacent lane, and calculates the required lane-changing driving time t = d / vx. Compare the distance s between the leading vehicle and the object ahead, the product of the relative speed v and the lane-changing driving time t. When the distance s between the leading vehicle and the object ahead is greater than the product of the relative speed v and the lane-changing driving time t, the leading vehicle maintains its current speed and switches to the emergency lane, and the remaining vehicles traveling in the same lane as the leading vehicle maintain their current speed and synchronously switch to the emergency lane. The entire formation travels in the first lane and the emergency lane, and resumes the original formation driving after avoiding the object ahead. When the distance s between the leading vehicle and the object ahead is less than the product of the relative speed v and the lane-changing driving time t, the leading vehicle decelerates and switches to the emergency lane, and the remaining vehicles traveling in the same lane as the leading vehicle decelerate and synchronously switch to the emergency lane. The entire formation travels in the first lane and the emergency lane, and resumes the original formation driving after avoiding the object ahead.

[0101] As Figure 10 shown in the figure, the first vehicle directly in front of the rear object is called the trailing vehicle. The trailing vehicle is traveling in the first lane, and the remaining vehicles are alternately formed in the first and second lanes. When the trailing vehicle encounters a rear object and needs to change lanes to the second lane, the trailing vehicle combines its maximum lateral speed vx for stable driving and the distance d required to reach the adjacent lane, and calculates the required lane-changing driving time t = d / vx. Compare the distance s between the trailing vehicle and the rear object, the product of the relative speed v and the lane-changing driving time t. When the distance s between the trailing vehicle and the rear object is greater than the product of the relative speed v and the lane-changing driving time t, the trailing vehicle maintains its current speed and switches to the second lane, and the remaining vehicles synchronously maintain their current speed and change lanes, switching to the second lane and the emergency lane. The entire formation alternates in the second lane and the emergency lane, and resumes the original formation driving after avoiding the rear object. When the distance s between the trailing vehicle and the rear object is less than the product of the relative speed v and the lane-changing driving time t, the trailing vehicle accelerates and switches to the second lane, and the remaining vehicles synchronously accelerate and change lanes, switching to the second lane and the emergency lane. The entire formation alternates in the second lane and the emergency lane, and resumes the original formation driving after avoiding the rear object.

[0102] As Figure 11As shown in the figure, the trailing vehicle is driving in the second lane, and the other vehicles are alternately formed in the first and second lanes. When the trailing vehicle needs to change lanes to the emergency lane due to a target object behind, the trailing vehicle calculates the required lane-changing driving time t = d / vx by combining its maximum lateral speed vx for stable driving and the distance d required to reach the adjacent lane. Compare the distance s between the trailing vehicle and the target object behind, the relative speed v, and the product of the lane-changing driving time t. When the distance s between the trailing vehicle and the target object behind is greater than the product of the relative speed v and the lane-changing driving time t, the trailing vehicle maintains its current speed and switches to the second lane, and the other vehicles driving in the same lane as the trailing vehicle maintain their current speeds and synchronously switch to the emergency lane. The entire formation alternates between the first lane and the emergency lane, and resumes the original formation driving after avoiding the target object behind. When the distance s between the trailing vehicle and the target object behind is less than the product of the relative speed v and the lane-changing driving time t, the trailing vehicle accelerates and switches to the emergency lane, and the other vehicles driving in the same lane as the trailing vehicle synchronously accelerate and switch to the emergency lane. The entire formation alternates between the first lane and the emergency lane, and resumes the original formation driving after avoiding the target object behind.

[0103] In summary, the following vehicle following method provided by the embodiments of the present application controls the formation vehicles to borrow the third lane for avoidance when there is an interfering following object on the road where the formation is driving during the multi-vehicle formation driving process, thereby avoiding accidents.

[0104] Please refer to Figure 12 , an embodiment of the following vehicle following control device in the embodiments of the present application may include:

[0105] A first acquisition unit 21, configured to acquire the driving information of the vehicle to be followed, where the driving information includes wind speed information and vehicle speed information;

[0106] A second acquisition unit 22, configured to use the vehicle driving information as an input to a wake vortex simulation model to obtain the simulated following position of the target vehicle;

[0107] A third acquisition unit 23, configured to acquire the interfering following object information of the current driving lane of the vehicle to be followed and the interfering following object information of the following lane of the target vehicle;

[0108] A control unit 24, configured to control the target vehicle to perform following driving based on the interfering following object information of the current driving lane, the interfering following object information of the following lane, and the simulated following position.

[0109] As Figure 13 shown, the embodiments of the present application further provide an electronic device 300, including a memory 310, a processor 320, and a computer program 311 stored on the memory 320 and executable on the processor. When the processor 320 executes the computer program 311, it implements the steps of any of the above following vehicle following control methods.

[0110] Since the electronic device introduced in this embodiment is the device adopted by a vehicle-following control device in an embodiment of the present application, based on the method introduced in the embodiment of the present application, those skilled in the art can understand the specific implementation manners and various variations of the electronic device in this embodiment. Therefore, the specific implementation of how this electronic device implements the method in the embodiment of the present application will not be described in detail here. As long as the device adopted by those skilled in the art to implement the method in the embodiment of the present application belongs to the scope protected by the present application.

[0111] In the specific implementation process, when the computer program 311 is executed by the processor, it can implement Figure 1 any one of the implementation manners in the corresponding embodiment.

[0112] It should be noted that in the above embodiments, the descriptions of each embodiment have their own focuses. For the parts not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0113] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0114] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of the processes and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the specified functions in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0115] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured product including an instruction device, and the instruction device implements the specified functions in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0116] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, so that a series of operation steps are executed on the computer or other programmable apparatus to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in one process Figure 1 one process or multiple processes and / or blocks Figure 1 or steps for implementing the functions specified in multiple blocks.

[0117] An embodiment of the present application also provides a computer program product, which includes computer software instructions. When the computer software instructions run on a processing device, the processing device is caused to execute a vehicle-following control process as in Figure 1 the corresponding embodiment.

[0118] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions according to the embodiments of the present application are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired manner (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or a wireless manner (such as infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be stored by a computer or a data storage device such as a server or a data center that includes one or more integrated available media. The available medium may be a magnetic medium (such as a floppy disk, a hard disk, or a magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)).

[0119] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described systems, apparatuses, and units can refer to the corresponding processes in the foregoing method embodiments and will not be described herein again.

[0120] In several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces, and the indirect coupling or communication connection of devices or units can be in electrical, mechanical, or other forms.

[0121] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place, or they can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0122] In addition, each functional unit in various embodiments of the present application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0123] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in various embodiments of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0124] The above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of various embodiments of the present application.

Claims

1. A following vehicle control method, characterized in that, Including: Obtain the driving information of the vehicle to be followed, where the driving information includes wind speed information and vehicle speed information; Use the vehicle driving information as the input of the wake vortex simulation model to obtain the simulated following position of the target vehicle; Obtain the information of following-vehicle interfering objects in the current driving lane of the vehicle to be followed and the information of following-vehicle interfering objects in the following lane of the target vehicle; Control the target vehicle to follow based on the information of following-vehicle interfering objects in the current driving lane, the information of following-vehicle interfering objects in the following lane, and the simulated following position; The controlling the target vehicle to follow based on the information of following-vehicle interfering objects in the current driving lane, the information of following-vehicle interfering objects in the following lane, and the simulated following position includes: When the vehicle to be followed and the target vehicle follow in adjacent lanes and there are interfering following objects in the current driving lane or the following lane, control the vehicle to be followed or the target vehicle to drive in the third lane; When the distance between the following object and the vehicle to be followed and the target vehicle is greater than the first distance, control the vehicle to be followed and the target vehicle to follow in adjacent lanes.

2. The method according to claim 1, wherein, The driving information further includes shape information.

3. The method according to claim 2, wherein Also including: Construct a variety of three-dimensional flow field simulation models based on the fluid dynamics simulation method and the vehicle shape database; Perform simulation based on the vehicle speed database, the wind speed database, and the three-dimensional flow field simulation model to obtain the preset simulated following position; Perform iterative training based on the wake vortex measurement data of the following vehicle test and the preset simulated following position using the neural network method to obtain the wake vortex simulation model.

4. The method according to claim 3, wherein Also including: Obtain the head pressure data and the tail pressure data obtained by the target vehicle at different positions in the wake vortex area corresponding to the vehicle to be followed; Obtain the wake vortex measurement data of the following vehicle test based on the head pressure data and the tail pressure data.

5. The method according to claim 2, wherein the controlling the target vehicle to follow based on the information of following-vehicle interfering objects in the current driving lane, the information of following-vehicle interfering objects in the following lane, and the simulated following position includes: When the vehicle to be followed and the target vehicle follow in adjacent lanes and there are interfering following objects in the current driving lane or the following lane, control the vehicle to be followed or the target vehicle to follow in the same lane; Control the vehicle speeds of the vehicle to be followed and the target vehicle based on the position of the interfering following object; When the distance between the following object and the vehicle to be followed and the target vehicle is greater than the first distance, control the vehicle to be followed and the target vehicle to follow in adjacent lanes.

6. The method according to claim 5, characterized in that, The controlling the vehicle speeds of the vehicle to be followed and the target vehicle based on the position of the interfering following object includes: Control the vehicle corresponding to the lane where there is no interfering following object to decelerate, so that the vehicle corresponding to the lane where there is an interfering following object can change lanes and cut in; When the distance between the following object and the vehicle to be followed and the target vehicle is less than or equal to the first distance, control the speed of the following vehicle to be less than or equal to the speed of the preceding vehicle.

7. A following vehicle control device, characterized in that, Including: A first acquisition unit, configured to acquire driving information of a vehicle to be followed, where the driving information includes wind speed information and vehicle speed information; A second acquisition unit, configured to use the vehicle driving information as an input to a wake vortex simulation model to obtain a simulated following position of a target vehicle; A third acquisition unit, configured to acquire current driving lane interfering following object information of the vehicle to be followed and following lane interfering following object information of the target vehicle; A control unit, configured to control the target vehicle to perform following driving based on the current driving lane interfering following object information, the following lane interfering following object information, and the simulated following position; The control unit is configured to: When the vehicle to be followed and the target vehicle are following in adjacent lanes and there are interfering following objects in the current driving lane or the following lane, control the vehicle to be followed or the target vehicle to drive in a third lane; When the distance between the following object and the vehicle to be followed and the target vehicle is greater than a first distance, control the vehicle to be followed and the target vehicle to follow in adjacent lanes.

8. An electronic device, comprising: A memory and a processor, characterized in that when the processor executes a computer program stored in the memory, the steps of the following control method according to any one of claims 1-6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, the following control method according to any one of claims 1-6 is implemented.

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