A control method and terminal of an unmanned vehicle

Abstract

The application discloses a control method and a terminal of an unmanned vehicle. Distance information of each two unmanned vehicles in an unmanned vehicle formation is acquired. When it is judged according to the distance information that the position between any two unmanned vehicles does not conform to a safe distance, a target unmanned vehicle not conforming to the safe distance is determined, and a first speed control instruction is sent to the target unmanned vehicle based on the first distance information. When it is judged according to the first distance information that each slave vehicle does not conform to a formation position, a target slave vehicle not conforming to the formation position is determined, and a second speed control instruction is sent to the target slave vehicle based on the first distance information. In this way, the position between vehicles is automatically calculated according to real-time acquired distance information, the vehicle not conforming to the safe distance and the vehicle leaving the formation are accelerated or decelerated in time, the driving safety of the unmanned vehicle and the formation effect are ensured, and effective control of the speed of the unmanned vehicle in the formation is realized.

Description

Technical Field

[0001] This invention relates to the field of unmanned vehicle control technology, and in particular to a control method and terminal for unmanned vehicles. Background Technology

[0002] Autonomous vehicle command and control platforms can group multiple autonomous vehicles and set different formations, such as single-file, single-line, triangular, and inverted triangular formations. The platform sets tracking routes according to these formations and remotely sends these routes to the individual vehicles, instructing them to follow the path. However, in reality, when vehicles follow the formation, factors such as road conditions, the vehicle's current location not reaching the designated starting point, distance traveled, and start-up time can cause the formation to deviate from the correct path, resulting in inconsistent formation throughout the journey. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a control method and terminal for unmanned vehicles, which can effectively control the speed of unmanned vehicles in a formation.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] A control method for an unmanned vehicle includes the following steps:

[0006] Obtain the distance information between every two unmanned vehicles in the unmanned vehicle platoon, the distance information including the first distance information between the master vehicle and the slave vehicle;

[0007] Based on the distance information, determine whether the position between any two unmanned vehicles meets the safe distance. If not, identify the target unmanned vehicle that does not meet the safe distance and send a first speed control command to the target unmanned vehicle based on the first distance information.

[0008] Based on the first distance information, it is determined whether each of the slave vehicles conforms to the formation position. If not, a target slave vehicle that does not conform to the formation position is identified, and a second speed control command is sent to the target unmanned vehicle based on the first distance information.

[0009] To solve the above-mentioned technical problems, another technical solution adopted by the present invention is as follows:

[0010] A control terminal for an unmanned vehicle includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it performs the following steps:

[0011] Obtain the distance information between every two unmanned vehicles in the unmanned vehicle platoon, the distance information including the first distance information between the master vehicle and the slave vehicle;

[0012] Based on the distance information, determine whether the position between any two unmanned vehicles meets the safe distance. If not, identify the target unmanned vehicle that does not meet the safe distance and send a first speed control command to the target unmanned vehicle based on the first distance information.

[0013] Based on the first distance information, it is determined whether each of the slave vehicles conforms to the formation position. If not, a target slave vehicle that does not conform to the formation position is identified, and a second speed control command is sent to the target unmanned vehicle based on the first distance information.

[0014] The beneficial effects of this invention are as follows: It acquires distance information between every two unmanned vehicles in a platoon, including first distance information between the master vehicle and the slave vehicle. When it is determined based on the distance information that the distance between any two unmanned vehicles does not meet the safe distance requirement, a first speed control command is sent to the target unmanned vehicle based on the first distance information. When it is determined based on the first distance information that the slave vehicle does not meet the platoon position requirement, a second speed control command is sent to the target slave vehicle based on the first distance information. This allows for the automatic calculation of the vehicle positions based on the real-time acquired distance information. Vehicles that do not meet the safe distance requirement or have broken out of the platoon are promptly accelerated or decelerated to ensure the driving safety and platooning effect of the unmanned vehicles, thereby achieving effective speed control of the unmanned vehicles within the platoon. Attached Figure Description

[0015] Figure 1 This is a flowchart illustrating the steps of a control method for an unmanned vehicle according to an embodiment of the present invention;

[0016] Figure 2 This is a schematic diagram of the structure of a control terminal for an unmanned vehicle according to an embodiment of the present invention;

[0017] Figure 3 This is a schematic diagram of the first distance information in the control method of the unmanned vehicle according to an embodiment of the present invention;

[0018] Figure 4 This is a flowchart illustrating the sending of speed control commands in the control method for an unmanned vehicle according to an embodiment of the present invention. Detailed Implementation

[0019] To explain in detail the technical content, objectives, and effects of the present invention, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0020] Please refer to Figure 1 This invention provides a control method for an unmanned vehicle, comprising the following steps:

[0021] Obtain the distance information between every two unmanned vehicles in the unmanned vehicle platoon, the distance information including the first distance information between the master vehicle and the slave vehicle;

[0022] Based on the distance information, determine whether the position between any two unmanned vehicles meets the safe distance. If not, identify the target unmanned vehicle that does not meet the safe distance and send a first speed control command to the target unmanned vehicle based on the first distance information.

[0023] Based on the first distance information, it is determined whether each of the slave vehicles conforms to the formation position. If not, a target slave vehicle that does not conform to the formation position is identified, and a second speed control command is sent to the target slave vehicle based on the first distance information.

[0024] As can be seen from the above description, the beneficial effects of the present invention are as follows: It acquires the distance information between every two unmanned vehicles in a platoon, including the first distance information between the master vehicle and the slave vehicle. When it is determined based on the distance information that the distance between any two unmanned vehicles does not meet the safe distance requirement, a first speed control command is sent to the target unmanned vehicle based on the first distance information. When it is determined based on the first distance information that the slave vehicle does not meet the platoon position requirement, a second speed control command is sent to the target slave vehicle based on the first distance information. This allows for the automatic calculation of the vehicle positions based on the real-time acquired distance information. Vehicles that do not meet the safe distance requirement or have broken out of the platoon are promptly accelerated or decelerated to ensure the driving safety and platooning effect of the unmanned vehicles, thereby achieving effective control of the unmanned vehicle speed within the platoon.

[0025] Furthermore, obtaining the distance information between every two autonomous vehicles in the autonomous vehicle platoon includes:

[0026] Obtain the first latitude and longitude of the master vehicle and the second latitude and longitude of each slave vehicle in the autonomous vehicle platoon;

[0027] The distance and angle between the master vehicle and the slave vehicle are calculated based on the first latitude and longitude and the second latitude and longitude.

[0028] The y-coordinate of the vehicle is calculated based on the spacing and angle.

[0029] Obtain the formation parameters of the unmanned vehicle formation, and calculate the deviation distance of the slave vehicle based on the formation parameters and the first latitude and longitude.

[0030] The first distance information is obtained based on the spacing, the angle, the y-coordinate, and the deviation distance.

[0031] As described above, the first distance information between the master vehicle and the slave vehicle includes the spacing, angle, y-coordinate, and deviation distance, so that the speed of the unmanned vehicle can be effectively controlled based on the first distance information, thereby ensuring the formation effect.

[0032] Furthermore, the process of obtaining the distance information between every two autonomous vehicles in the platoon includes:

[0033] Obtain the direction of travel for the autonomous vehicle platoon;

[0034] The calculation of the y-coordinate of the vehicle based on the spacing and angle includes:

[0035] The main vehicle is defined as the origin of the coordinate axis, and the forward direction is defined as the y-axis of the coordinate axis.

[0036] The y-coordinate of the vehicle in the coordinate axis is obtained by calculating based on the spacing, the angle, and the direction of travel.

[0037] As described above, the y-coordinate of the vehicle in the coordinate axis is obtained by calculating the distance, angle, and direction of travel. The y-coordinate can then be used to accurately determine the front-to-back positional relationship between the vehicles, thereby improving the accuracy of the unmanned vehicle speed control.

[0038] Furthermore, obtaining the forward direction of the unmanned vehicle platoon includes:

[0039] Obtain the current latitude and longitude and the previous latitude and longitude of the main vehicle;

[0040] The forward direction is calculated based on the current latitude and longitude and the previous latitude and longitude, and the forward direction is determined as the forward direction of the unmanned vehicle convoy.

[0041] As described above, the direction of travel can be calculated based on the current latitude and longitude and the previous latitude and longitude. The direction of travel of the main vehicle in the unmanned vehicle platoon can be directly regarded as the direction of travel of the entire platoon, and this can be used as the standard for subsequent speed control.

[0042] Furthermore, the formation parameters include the formation deviation distance and formation deviation angle of the slave vehicle relative to the master vehicle;

[0043] The process of obtaining the deviation distance of the vehicle based on the formation parameters and the first latitude and longitude includes:

[0044] The target latitude and longitude of the vehicle are determined based on the formation deviation distance, the formation deviation angle, and the first latitude and longitude.

[0045] The deviation distance of the vehicle is determined based on the target latitude and longitude and the second latitude and longitude.

[0046] As described above, the target latitude and longitude of the vehicle are determined based on the formation deviation distance, formation deviation angle, and the first latitude and longitude. The deviation distance of the vehicle is determined based on the target latitude and longitude and the second latitude and longitude. This deviation distance is the distance between the current position of the vehicle and the position set in the formation, which serves as the basis for subsequent acceleration and deceleration control.

[0047] Furthermore, the distance information also includes second distance information between every two vehicles;

[0048] The step of determining whether the position between any two unmanned vehicles conforms to the safe distance based on the distance information, and if not, identifying the target unmanned vehicle that does not conform to the safe distance, includes:

[0049] Based on the first distance information and the second distance information, determine whether the position between any two unmanned vehicles meets the safe distance; if not, identify the target unmanned vehicle that does not meet the safe distance.

[0050] The target unmanned vehicle includes a first target unmanned vehicle and a second target unmanned vehicle;

[0051] Sending a first speed control command to the target unmanned vehicle based on the first distance information includes:

[0052] Acquire the first operating state of the first target unmanned vehicle and the second operating state of the second target unmanned vehicle;

[0053] Obtain from the first distance information the first distance information of the first target vehicle corresponding to the first target vehicle and the first distance information of the second target vehicle corresponding to the second target vehicle;

[0054] Based on the first operating state, the second operating state, the first target first distance information, and the second target first distance information, a first speed control command is sent to the target unmanned vehicle.

[0055] As described above, by determining which target vehicle to send the speed control command to based on the operating status of the two target unmanned vehicles and the first distance information of the target, the speed control of vehicles that do not meet the safe distance can be accurately and effectively controlled.

[0056] Furthermore, both the first operating state and the second operating state include an online state and an offline state;

[0057] The online status includes non-tracking status and tracking status;

[0058] Sending a first speed control command to the target unmanned vehicle based on the first operating state, the second operating state, the first target first distance information, and the second target first distance information includes:

[0059] Determine whether both the first operating state and the second operating state are online states, and whether both the first target first distance information and the second target first distance information are not empty. If both are, determine whether both the first operating state and the second operating state are tracking states. Otherwise, determine whether either the first target first distance information or the second target first distance information is empty. If it is, send a first speed control command to the target unmanned vehicle corresponding to the non-empty target first distance information. If it is not, determine whether either the first operating state or the second operating state is offline states. If it is, send a first speed control command to the target unmanned vehicle whose operating state is online.

[0060] If both the first operating state and the second operating state are the tracking state, then a following vehicle is determined from the target unmanned vehicle based on the first y-coordinate in the first distance information of the first target and the second y-coordinate in the first distance information of the second target, and a first speed control command is sent to the following vehicle. If there is a non-tracking state between the first operating state and the second operating state, then a first speed control command is sent to the target unmanned vehicle whose operating state is the tracking state.

[0061] As described above, when both target unmanned vehicles are online, their first distance information is not empty, and they are both tracking, the following vehicle is determined based on the y-coordinates of the two target unmanned vehicles, and a speed control command is sent to the following vehicle. If either target unmanned vehicle is not tracking, a speed control command is sent to the tracking target unmanned vehicle. If either target unmanned vehicle has empty first distance information, a speed control command is sent to the non-empty target unmanned vehicle. If either target unmanned vehicle is offline, a speed control command is sent directly to the online target unmanned vehicle. This ensures the accurate issuance of speed control commands and improves the effectiveness of speed control.

[0062] Furthermore, the formation parameters also include the formation y-coordinate;

[0063] The step of determining whether each of the following vehicles conforms to the formation position based on the first distance information, and if not, identifying the target following vehicle that does not conform to the formation position, and sending a second speed control command to the target following vehicle based on the first distance information includes:

[0064] Obtain the target first distance information and target formation parameters corresponding to each vehicle;

[0065] The target y-coordinate is determined from the first target distance information, and the target formation y-coordinate is determined from the target formation parameters;

[0066] If the target y-coordinate is greater than the target formation y-coordinate, then the follower vehicle is identified as a target follower vehicle that does not conform to the formation position, and a deceleration command is sent to the target follower vehicle. If not, then the target y-coordinate is identified as less than the target formation y-coordinate. If so, the follower vehicle is identified as a target follower vehicle that does not conform to the formation position, and an acceleration command is sent to the target follower vehicle.

[0067] As described above, when the target's y-coordinate is greater than the target formation's y-coordinate, it indicates that the target vehicle is speeding and has broken out of the formation, so a deceleration command is sent to it. When the target's y-coordinate is less than the target formation's y-coordinate, it indicates that the target vehicle is too slow and has fallen behind, so an acceleration command is sent to the target vehicle. This effectively controls the speed of the unmanned vehicles in the formation to ensure the formation effect.

[0068] Furthermore, sending a deceleration command to the target vehicle includes:

[0069] Obtain the preset deviation distance, and determine the target deviation distance from the target first distance information;

[0070] Calculate the deceleration percentage based on the preset deviation distance and the target deviation distance;

[0071] Obtain the current speed of the main vehicle;

[0072] The target speed of the target vehicle is calculated based on the current speed of the master vehicle and the deceleration percentage.

[0073] A deceleration command is sent to the target vehicle based on the target vehicle speed.

[0074] As described above, the target speed of the target vehicle is calculated based on the current speed and deceleration percentage of the master vehicle, and a deceleration command is sent to the target vehicle based on the target speed to ensure that the target vehicle can reach the accurate formation position.

[0075] Please refer to Figure 2 Another embodiment of the present invention provides a control terminal for an unmanned vehicle, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the various steps in the above-described unmanned vehicle control method.

[0076] The unmanned vehicle control method described above is applicable to scenarios requiring control of unmanned vehicles in a platoon. The following detailed embodiments illustrate this method:

[0077] Example 1

[0078] The autonomous vehicle command and control platform receives real-time operating data of the autonomous vehicle from the background and transmits the real-time operating data (carInfos) to the speed automatic control module every 200 milliseconds. Here, carInfos is a key-value pair object with the autonomous vehicle ID as the key and the real-time operating data as the value. After receiving the real-time operating data of the autonomous vehicle, the speed automatic control module executes subsequent steps every 200 milliseconds to control the speed of the autonomous vehicle.

[0079] Please refer to Figure 1 , Figures 3-4 The control method for an unmanned vehicle in this embodiment includes the following steps:

[0080] S0, Obtain the forward direction of the autonomous vehicle platoon, such as Figure 4 As shown, it specifically includes:

[0081] S01. Obtain the current latitude and longitude and the previous latitude and longitude of the main vehicle;

[0082] Specifically, the current latitude and longitude and the previous latitude and longitude of the main vehicle are obtained from carInfos based on the main vehicle ID;

[0083] S02. Calculate the forward direction (forwardDegree) based on the current latitude and longitude and the previous latitude and longitude, and determine the forward direction as the forward direction of the unmanned vehicle convoy;

[0084] S1. Obtain the distance information between every two autonomous vehicles in the autonomous vehicle platoon. The distance information includes the first distance information between the master vehicle and the slave vehicles (mainDis) and the second distance information between every two slave vehicles (allDis), such as... Figure 3 As shown, it specifically includes:

[0085] S11. Obtain the first latitude and longitude of the master vehicle and the second latitude and longitude of each slave vehicle in the unmanned vehicle platoon;

[0086] S12. Calculate the distance (dis) and angle (degree) between the master vehicle and the slave vehicle based on the first latitude and longitude and the second latitude and longitude.

[0087] S13. Calculate the y-coordinate of the vehicle based on the spacing and angle, specifically including:

[0088] S131. The main vehicle is determined as the origin of the coordinate axis, and the forward direction is determined as the y-axis of the coordinate axis;

[0089] S132. Calculate the y-coordinate of the vehicle in the coordinate axis based on the spacing, the angle, and the direction of travel;

[0090] y = dis*sin(a*π / 180);

[0091] a=(90-forwardDegree)+degree;

[0092] In the formula, dis represents the spacing, forwardDegree represents the forward direction, degree represents the angle, and a represents the angle between the current position of the slave vehicle and the perpendicular line of the convoy's forward direction, with the master vehicle as the origin.

[0093] Wherein, if a>=0° and a<=180°, then y is a positive number, that is, the slave vehicle is currently in front of the master vehicle; otherwise, y is a negative number, that is, the slave vehicle is behind the master vehicle.

[0094] S14. Obtain the formation parameters of the unmanned vehicle formation, and calculate the deviation distance of the slave vehicle based on the formation parameters and the first latitude and longitude, specifically including:

[0095] S141. Obtain the formation parameters of the unmanned vehicle formation, the formation parameters including the formation offset distance (offsetDistance), formation offset angle (offsetDegree), and formation y-coordinate of the slave vehicle relative to the master vehicle;

[0096] S142. Determine the target latitude and longitude (requirePoint) of the vehicle based on the formation deviation distance, the formation deviation angle, and the first latitude and longitude.

[0097] S143. Determine the offset distance (offsetDis) of the vehicle based on the target latitude and longitude and the second latitude and longitude;

[0098] S15. Obtain first distance information based on the spacing, angle, y-coordinate, and deviation distance. That is, store the spacing, angle, y-coordinate, and deviation distance in a table structure to obtain the first distance information. Alternatively, it can be stored in other data structures, as shown in Table 1.

[0099] Table 1 First Distance Information

[0100]

[0101] S16. Calculate the second distance information between every two vehicles based on the second latitude and longitude of each vehicle, as shown in Table 2.

[0102] Table 2 Second Distance Information

[0103]

[0104] S2. Based on the distance information, determine whether the position between any two unmanned vehicles meets the safe distance requirement. If not, identify the target unmanned vehicle that does not meet the safe distance requirement, and send a first speed control command to the target unmanned vehicle based on the first distance information. Figure 4 As shown, it specifically includes:

[0105] S21. Determine whether the position between any two unmanned vehicles meets the safe distance based on the first distance information and the second distance information. If not, identify the target unmanned vehicle that does not meet the safe distance. The target unmanned vehicle includes the first target unmanned vehicle (car1) and the second target unmanned vehicle (car2).

[0106] S22. Obtain the first operating state (statu1) of the first target unmanned vehicle and the second operating state (statu2) of the second target unmanned vehicle;

[0107] S23. Obtain from the first distance information the first distance information of the first target unmanned vehicle corresponding to the first target vehicle and the first distance information of the second target vehicle corresponding to the second target vehicle;

[0108] S24. Based on the first operating state, the second operating state, the first target first distance information, and the second target first distance information, a first speed control command is sent to the target unmanned vehicle, specifically including:

[0109] The first operating state and the second operating state both include an online state (>0) and an offline state (-1); the online state includes a non-tracking state (1) and a tracking state (2);

[0110] S241. Determine whether both the first running state and the second running state are online states, and whether both the first target first distance information and the second target first distance information are not empty. If both are, execute S2411; otherwise, execute S2412.

[0111] S2411. Determine whether both the first running state and the second running state are the tracking state;

[0112] Specifically, if both the first operating state and the second operating state are the tracking state, then a following vehicle is determined from the target unmanned vehicle based on the first y-coordinate in the first distance information of the first target and the second y-coordinate in the first distance information of the second target, and a first speed control command is sent to the following vehicle; if there is a non-tracking state between the first operating state and the second operating state, then a first speed control command is sent to the target unmanned vehicle whose operating state is the tracking state.

[0113] S2412. Determine whether either the first distance information of the first target or the first distance information of the second target is empty. If it is, execute S24121; if it is not, execute S24122.

[0114] S24121. Send a first speed control command to the unmanned vehicle corresponding to the first distance information of the non-empty target;

[0115] S24122. Determine whether either the first operating state or the second operating state is the offline state. If so, send a first speed control command to the target unmanned vehicle whose operating state is online.

[0116] In one alternative implementation, a first speed control command is sent to the target unmanned vehicle whose running status is online via a WebSocket connection;

[0117] The first speed control command is a safe distance command, which enables the target unmanned vehicle to maintain a safe distance.

[0118] S3. Based on the first distance information, determine whether each of the slave vehicles conforms to the formation position. If not, identify the target slave vehicle that does not conform to the formation position, and send a second speed control command to the target slave vehicle based on the first distance information. Figure 4 As shown, it specifically includes:

[0119] S31. Obtain the target first distance information and target formation parameters corresponding to each of the vehicles;

[0120] S32. Determine the target y-coordinate (currentY) from the target first distance information, and determine the target formation y-coordinate (requireY) from the target formation parameters;

[0121] S33. Determine whether the target y-coordinate is greater than the target formation y-coordinate. If yes, execute S331; otherwise, execute S332.

[0122] S331. Determine the slave vehicle as a target slave vehicle that does not conform to the formation position, and send a deceleration command to the target slave vehicle, specifically including:

[0123] S3311. Determine the slave vehicle as a target slave vehicle that does not conform to the formation position;

[0124] S3312. Obtain the preset deviation distance, and determine the target deviation distance from the target first distance information;

[0125] The preset deviation distance can be flexibly set according to the actual situation;

[0126] S3313. Calculate the deceleration percentage based on the preset deviation distance and the target deviation distance;

[0127] For example, assuming the preset deviation distance is 10 to 30 meters and the target deviation distance is 20 meters, the deceleration percentage is 15%.

[0128] S3314. Obtain the current speed of the main vehicle;

[0129] S3315. Calculate the target speed of the target vehicle based on the current speed of the master vehicle and the deceleration percentage;

[0130] Continuing with the example above, assuming the current speed of the main vehicle is 40 km / h, then the target speed of the target vehicle is 40 km / h * (1 - 0.15) = 34 km / h;

[0131] S3316. Send a deceleration command to the target vehicle according to the target vehicle speed;

[0132] S332. Determine whether the target y-coordinate is less than the target formation y-coordinate. If yes, determine the slave vehicle as a target slave vehicle that does not meet the formation position and send an acceleration command to the target slave vehicle. If no, obtain the current speed of the master vehicle and send a speed maintenance command to the slave vehicle according to the current speed of the master vehicle.

[0133] The step of sending an acceleration command to the target vehicle includes:

[0134] Obtain the preset deviation distance, and determine the target deviation distance from the target first distance information;

[0135] Calculate the acceleration percentage based on the preset deviation distance and the target deviation distance;

[0136] Obtain the current speed of the main vehicle;

[0137] The target speed of the target vehicle is calculated based on the current speed of the master vehicle and the acceleration percentage.

[0138] An acceleration command is sent to the target vehicle based on the target vehicle speed;

[0139] In one optional implementation, while sending the first speed control command or the second speed control command, the speed and sending time in the command are recorded. When sending a command each time, it is determined whether it is a repetition of the previous command. If it is a repetition, it is not sent again, so as to reduce command sending redundancy.

[0140] In the speed control process of unmanned vehicle platooning, all control commands are generated based on the real-time data of the master vehicle, which is then compared with the real-time data of the slave vehicles. Therefore, the role of the master vehicle is crucial. However, during the remote real-time control of the unmanned vehicle platooning by the command and control platform, the master vehicle may fail to receive real-time data due to objective factors such as malfunction, damage, or signal loss, requiring a master vehicle switch. To ensure that the unmanned vehicle platoon can continue to travel normally according to the designated platooning formation after the loss of the master vehicle, an automatic master vehicle switching function is also required. In another optional implementation, the following steps are also included:

[0141] S4. Determine whether the operating status of the master vehicle is online. If not, clear the relevant data of the current master vehicle and send exit remote control command and stop command to all slave vehicles, so that the unmanned vehicle formation remains stationary in place.

[0142] S5. Determine whether the running status of the next slave vehicle is online. If so, determine the slave vehicle as the master vehicle and return to execute S0.

[0143] Example 2

[0144] Please refer to Figure 2 The control terminal of an unmanned vehicle in this embodiment includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the various steps of the unmanned vehicle control method in Embodiment 1.

[0145] In summary, the present invention provides a control method and terminal for unmanned vehicles, which acquires distance information between every two unmanned vehicles in a platoon, including first distance information between the master vehicle and the slave vehicle; determines whether the position between any two unmanned vehicles meets the safe distance requirement based on the distance information; if not, identifies a target unmanned vehicle that does not meet the safe distance requirement and sends a first speed control command to the target unmanned vehicle based on the first distance information; determines whether each slave vehicle meets the platoon position requirement based on the first distance information; if not, identifies a target slave vehicle that does not meet the platoon position requirement and sends a second speed control command to the target slave vehicle based on the first distance information; calculates the target speed of the target slave vehicle based on the current speed and deceleration percentage of the master vehicle, and sends a deceleration command to the target slave vehicle based on the target speed to ensure that the target slave vehicle can reach the accurate platoon position. This allows for automatic calculation of the positions between vehicles based on real-time acquired distance information, and timely acceleration or deceleration of vehicles that do not meet the safe distance requirement or have broken out of the platoon, ensuring the driving safety and platooning effect of the unmanned vehicles, thereby achieving effective speed control of unmanned vehicles in the platoon.

[0146] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent modifications made based on the content of the present invention specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A control method for an unmanned vehicle, characterized in that, Including the following steps: Obtain the distance information between every two unmanned vehicles in the unmanned vehicle platoon, the distance information including the first distance information between the master vehicle and the slave vehicle; Based on the distance information, determine whether the position between any two unmanned vehicles meets the safe distance. If not, identify the target unmanned vehicle that does not meet the safe distance and send a first speed control command to the target unmanned vehicle based on the first distance information. Based on the first distance information, determine whether each of the slave vehicles conforms to the formation position. If not, identify the target slave vehicle that does not conform to the formation position and send a second speed control command to the target slave vehicle based on the first distance information. The process of obtaining the distance information between every two autonomous vehicles in the autonomous vehicle platoon includes: Obtain the first latitude and longitude of the master vehicle and the second latitude and longitude of each slave vehicle in the autonomous vehicle platoon; The distance and angle between the master vehicle and the slave vehicle are calculated based on the first latitude and longitude and the second latitude and longitude. The y-coordinate of the vehicle is calculated based on the spacing and angle. Obtain the formation parameters of the unmanned vehicle formation, and calculate the deviation distance of the slave vehicle based on the formation parameters and the first latitude and longitude. The first distance information is obtained based on the spacing, the angle, the y-coordinate, and the deviation distance; The formation parameters also include the formation y-coordinate; The step of determining whether each of the following vehicles conforms to the formation position based on the first distance information, and if not, identifying the target following vehicle that does not conform to the formation position, and sending a second speed control command to the target following vehicle based on the first distance information includes: Obtain the target first distance information and target formation parameters corresponding to each vehicle; The target y-coordinate is determined from the first target distance information, and the target formation y-coordinate is determined from the target formation parameters; If the target y-coordinate is greater than the target formation y-coordinate, then the follower vehicle is identified as a target follower vehicle that does not conform to the formation position, and a deceleration command is sent to the target follower vehicle. If not, then the target y-coordinate is determined to be less than the target formation y-coordinate. If so, the follower vehicle is identified as a target follower vehicle that does not conform to the formation position, and an acceleration command is sent to the target follower vehicle. Before obtaining the distance information between every two autonomous vehicles in the autonomous vehicle platoon, the following steps are included: Obtain the direction of travel for the autonomous vehicle platoon; The calculation of the y-coordinate of the vehicle based on the spacing and angle includes: The main vehicle is defined as the origin of the coordinate axis, and the forward direction is defined as the y-axis of the coordinate axis. The y-coordinate of the vehicle in the coordinate axis is obtained by calculating based on the spacing, the angle, and the direction of travel.

2. The control method for an unmanned vehicle according to claim 1, characterized in that, The method of obtaining the forward direction of the unmanned vehicle platoon includes: Obtain the current latitude and longitude and the previous latitude and longitude of the main vehicle; The forward direction is calculated based on the current latitude and longitude and the previous latitude and longitude, and the forward direction is determined as the forward direction of the unmanned vehicle convoy.

3. The control method for an unmanned vehicle according to claim 1, characterized in that, The formation parameters include the formation deviation distance and formation deviation angle of the slave vehicle relative to the master vehicle; The process of obtaining the deviation distance of the vehicle based on the formation parameters and the first latitude and longitude includes: The target latitude and longitude of the vehicle are determined based on the formation deviation distance, the formation deviation angle, and the first latitude and longitude. The deviation distance of the vehicle is determined based on the target latitude and longitude and the second latitude and longitude.

4. The control method for an unmanned vehicle according to claim 1, characterized in that, The distance information also includes second distance information between every two vehicles; The step of determining whether the position between any two unmanned vehicles conforms to the safe distance based on the distance information, and if not, identifying the target unmanned vehicle that does not conform to the safe distance, includes: Based on the first distance information and the second distance information, determine whether the position between any two unmanned vehicles meets the safe distance; if not, identify the target unmanned vehicle that does not meet the safe distance. The target unmanned vehicle includes a first target unmanned vehicle and a second target unmanned vehicle; Sending a first speed control command to the target unmanned vehicle based on the first distance information includes: Acquire the first operating state of the first target unmanned vehicle and the second operating state of the second target unmanned vehicle; Obtain from the first distance information the first distance information of the first target vehicle corresponding to the first target vehicle and the first distance information of the second target vehicle corresponding to the second target vehicle; Based on the first operating state, the second operating state, the first target first distance information, and the second target first distance information, a first speed control command is sent to the target unmanned vehicle.

5. The control method for an unmanned vehicle according to claim 4, characterized in that, Both the first operating state and the second operating state include an online state and an offline state; The online status includes non-tracking status and tracking status; Sending a first speed control command to the target unmanned vehicle based on the first operating state, the second operating state, the first target first distance information, and the second target first distance information includes: Determine whether both the first operating state and the second operating state are online states, and whether both the first target first distance information and the second target first distance information are not empty. If both are, determine whether both the first operating state and the second operating state are tracking states. Otherwise, determine whether either the first target first distance information or the second target first distance information is empty. If it is, send a first speed control command to the target unmanned vehicle corresponding to the non-empty target first distance information. If it is not, determine whether either the first operating state or the second operating state is offline states. If it is, send a first speed control command to the target unmanned vehicle whose operating state is online. If both the first operating state and the second operating state are the tracking state, then a following vehicle is determined from the target unmanned vehicle based on the first y-coordinate in the first distance information of the first target and the second y-coordinate in the first distance information of the second target, and a first speed control command is sent to the following vehicle. If there is a non-tracking state between the first operating state and the second operating state, then a first speed control command is sent to the target unmanned vehicle whose operating state is the tracking state.

6. The control method for an unmanned vehicle according to claim 1, characterized in that, Sending a deceleration command to the target vehicle includes: Obtain the preset deviation distance, and determine the target deviation distance from the target first distance information; Calculate the deceleration percentage based on the preset deviation distance and the target deviation distance; Obtain the current speed of the main vehicle; The target speed of the target vehicle is calculated based on the current speed of the master vehicle and the deceleration percentage. A deceleration command is sent to the target vehicle based on the target vehicle speed.

7. A control terminal for an unmanned vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements each step of the control method for an unmanned vehicle according to any one of claims 1 to 6.

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