Intelligent network bus multi-vehicle platoon docking control method and device

Abstract

The present application discloses a formation docking control method and device for multiple vehicles of an intelligent networked bus, wherein the method includes: when it is detected that the current vehicle is in a preset formation docking condition, and the current vehicle and the target docking vehicle both meet the preset docking conditions, obtaining the first target posture of the current vehicle and the second target posture of the target docking vehicle, so as to obtain the relative distance, bearing angle and heading angle difference between the current vehicle and the target docking vehicle, thereby determining the target turning angle and target speed of the current vehicle, generating the turning angle control command and speed control command of the current vehicle according to the target turning angle and target speed, and then controlling the current vehicle and the target docking vehicle to perform formation docking. Thus, the problem that the driving path and formation of the vehicle are planned in advance in the related technology, the emergency situation of the vehicle during the driving process cannot be effectively dealt with, the applicability of the vehicle formation control is reduced, and the intelligent level of the vehicle formation control is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of public transportation operation and dispatching, and in particular to a formation docking control method and device for multiple vehicles of an intelligent network-connected bus. Background Art

[0002] At present, the research on the coordinated docking control of trackless intelligent connected buses involves the collaboration between buses and between buses and roadside equipment through communication to form a formation, and to complete relatively complex scheduling tasks concurrently in time and space to improve the work efficiency of buses, enhance the ability of distributed perception of information and adapt to complex environments. Through the formation control of multiple vehicles, each bus can complete information exchange, which has the advantages of economy, reliability and fast response, and has extremely important practical significance.

[0003] In the related technology, the main thing is to plan the vehicle's trajectory in advance, obtain the vehicle's perception information through on-board communication equipment and sensor equipment, and then generate the vehicle's driving trajectory and formation information to achieve formation control of multiple vehicles. In addition, the existing method has high requirements on on-board communication equipment and is highly dependent on the acquired perception information, which makes the vehicle's formation fault tolerance rate low during the driving process.

[0004] However, the advance planning of vehicle driving paths and formations in related technologies cannot effectively deal with emergencies that occur during vehicle movement, reducing the applicability of vehicle formation control. In addition, obtaining vehicle perception information through on-board sensor equipment increases economic costs and reduces the intelligence level of vehicle formation control. This cannot meet the needs of vehicle formation control and needs to be urgently addressed. Summary of the invention

[0005] The present application provides a method and device for controlling the formation docking of multiple vehicles of an intelligent network-connected bus, so as to solve the problem that the driving paths and formations of vehicles are planned in advance in the related technology, but the emergencies of vehicles during travel cannot be effectively dealt with, the applicability of the vehicle formation control is reduced, and the intelligence level of the vehicle formation control is reduced, and the demand for vehicle formation control cannot be met.

[0006] The first aspect of the present application provides a method for controlling formation docking of multiple vehicles of an intelligent connected bus, comprising the following steps: detecting whether a current vehicle is in a preset formation docking condition; when it is detected that the current vehicle is in the preset formation docking condition, and the current vehicle and the target docking vehicle both meet the preset docking conditions, obtaining a first target posture of the current vehicle and a second target posture of the target docking vehicle, and obtaining a relative distance, a bearing angle, and a heading angle difference between the current vehicle and the target docking vehicle according to the first target posture and the second target posture; determining a target turning angle and a target speed of the current vehicle using the relative distance, the bearing angle, and the heading angle difference, and generating a turning angle control instruction and a speed control instruction of the current vehicle according to the target turning angle and the target speed, so as to control the current vehicle and the target docking vehicle to perform formation docking using the turning angle control instruction and the speed control instruction.

[0007] Optionally, in one embodiment of the present application, obtaining the first target posture of the current vehicle and the second target posture of the target docking vehicle includes: obtaining a first initial posture of the current vehicle and a second initial posture of the target docking vehicle; based on a target posture transformation matrix, obtaining the first target posture of the first initial posture at a target point and the second target posture of the second initial posture at the target point.

[0008] Optionally, in one embodiment of the present application, the use of the relative distance, the bearing angle and the heading angle difference to determine the target turning angle and the target speed of the current vehicle includes: based on the relative distance, the bearing angle and the heading angle difference, using a target lateral controller to determine the target turning angle and the target speed of the current vehicle.

[0009] Optionally, in one embodiment of the present application, the relative distance, bearing angle and heading angle difference between the current vehicle and the target docking vehicle are expressed as follows:

[0010]

[0011]

[0012]

[0013] in, is the global coordinate of the current vehicle, is the global coordinate of the target docking vehicle, d ij is the relative distance between the current vehicle and the target vehicle, β ij is the bearing angle between the current vehicle and the target docking vehicle, γ ijis the difference in heading angle between the current vehicle and the target docking vehicle, is the current vehicle heading angle, is the heading angle of the target docking vehicle.

[0014] The second aspect of the present application provides a formation docking control device for multiple vehicles of an intelligent connected bus, comprising: a detection module, used to detect whether a current vehicle is in a preset formation docking condition; an acquisition module, used to acquire a first target posture of the current vehicle and a second target posture of the target docking vehicle when it is detected that the current vehicle is in the preset formation docking condition and both the current vehicle and the target docking vehicle meet the preset docking conditions, and obtain the relative distance, bearing angle and heading angle difference between the current vehicle and the target docking vehicle according to the first target posture and the second target posture; a control module, used to determine a target turning angle and a target speed of the current vehicle using the relative distance, the bearing angle and the heading angle difference, and generate a turning angle control instruction and a speed control instruction of the current vehicle according to the target turning angle and the target speed, so as to control the current vehicle and the target docking vehicle to perform formation docking using the turning angle control instruction and the speed control instruction.

[0015] Optionally, in one embodiment of the present application, the acquisition module includes: a first acquisition unit, used to acquire a first initial posture of the current vehicle and a second initial posture of the target docking vehicle; a second acquisition unit, used to acquire the first target posture of the first initial posture at a target point and the second target posture of the second initial posture at the target point based on a target posture transformation matrix.

[0016] Optionally, in one embodiment of the present application, the control module includes: a determination unit, configured to determine the target turning angle and the target speed of the current vehicle using a target lateral controller based on the relative distance, the bearing angle and the heading angle difference.

[0017] Optionally, in one embodiment of the present application, the relative distance, bearing angle and heading angle difference between the current vehicle and the target docking vehicle are expressed as follows:

[0018]

[0019]

[0020]

[0021] in, is the global coordinate of the current vehicle, is the global coordinate of the target docking vehicle, d ijis the relative distance between the current vehicle and the target vehicle, β ij is the bearing angle between the current vehicle and the target docking vehicle, γ ij is the difference in heading angle between the current vehicle and the target docking vehicle, is the current vehicle heading angle, is the heading angle of the target docking vehicle.

[0022] The third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the formation docking control method for multiple intelligent connected buses as described in the above embodiment.

[0023] The fourth aspect of the present application provides a computer-readable storage medium, which stores a computer program. When the program is executed by a processor, it implements the above-mentioned method for controlling the formation docking of multiple vehicles of an intelligent connected bus.

[0024] The fifth aspect of the present application provides a computer program, which, when executed, is used to implement the above-mentioned method for controlling the formation docking of multiple vehicles of the intelligent connected bus.

[0025] The embodiment of the present application can obtain the relative distance, bearing angle and heading angle difference between the current vehicle and the target docking vehicle when it is detected that the current vehicle is in a preset formation docking condition and the current vehicle and the target docking vehicle both meet the docking conditions, thereby determining the target turning angle and target speed of the current vehicle, generating the turning angle control command and speed control command of the current vehicle according to the target turning angle and target speed, and then controlling the current vehicle and the target docking vehicle to perform formation docking, effectively improving the applicability and reliability of vehicle formation control, and improving the intelligent level of vehicle formation control. Thus, the problem that the driving path and formation of vehicles are planned in advance in the related technology, the emergency situation of the vehicle during the driving process is not effectively dealt with, the applicability of vehicle formation control is reduced, and the intelligent level of vehicle formation control is reduced, and the demand for vehicle formation control cannot be met is solved.

[0026] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0028] Figure 1 A flowchart of a method for controlling a platoon connection of multiple intelligent networked buses according to an embodiment of the present application;

[0029] Figure 2 A schematic diagram of a kinematic model of a current vehicle docking with a preceding vehicle according to a specific embodiment of the present application;

[0030] Figure 3 This is a flow chart of a method for controlling a platoon connection of multiple intelligent networked buses according to a specific embodiment of the present application;

[0031] Figure 4 A schematic diagram of the structure of a platoon docking control device for multiple intelligent network-connected buses provided according to an embodiment of the present application;

[0032] Figure 5 It is a schematic diagram of the structure of a vehicle provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0033] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0034] The following describes the formation docking control method and device of multiple vehicles of the intelligent networked bus in the embodiment of the present application with reference to the accompanying drawings. In view of the problem that the driving path and formation of the vehicle are planned in advance in the related technology mentioned in the background technology center, it is impossible to effectively deal with the sudden situation of the vehicle during the driving process, which reduces the applicability of the vehicle formation control, and reduces the intelligence level of the vehicle formation control, and cannot meet the needs of the vehicle formation control, the present application provides a formation docking control method of multiple vehicles of the intelligent networked bus, in which the relative distance, bearing angle and heading angle difference between the current vehicle and the target docking vehicle can be obtained when it is detected that the current vehicle is in a preset formation docking condition, and the current vehicle and the target docking vehicle both meet the docking conditions, so as to determine the target turning angle and target speed of the current vehicle, generate the turning angle control command and speed control command of the current vehicle according to the target turning angle and target speed, and then control the current vehicle and the target docking vehicle to perform formation docking, effectively improving the applicability and reliability of the vehicle formation control, and improving the intelligence level of the vehicle formation control. Thereby, the problem that the related technology plans the driving path and formation of vehicles in advance, cannot effectively deal with emergencies of vehicles during driving, reduces the applicability of vehicle formation control, and reduces the intelligence level of vehicle formation control is solved.

[0035] Specifically, Figure 1 A flowchart of a method for controlling a platoon docking of multiple intelligent connected buses provided in an embodiment of the present application.

[0036] like Figure 1 As shown, the intelligent network-connected bus multi-vehicle platoon docking control method includes the following steps:

[0037] In step S101, it is detected whether the current vehicle is in a preset platoon docking condition.

[0038] In the embodiment of the present application, the preset formation docking condition is a condition in which the current vehicle can complete formation docking with other vehicles during driving.

[0039] It can be understood that the embodiments of the present application can detect whether the current vehicle is in a formation docking condition. For example, the user can pre-set the bus to automatically enter the formation docking condition after it is powered on, or the user can control the bus to enter the formation docking condition through physical buttons during the driving of the bus. After the bus enters the formation docking condition, it can complete the docking with the bus that needs to be docked. Among them, the vehicles in the embodiments of the present application are explained using buses as examples, which effectively improves the feasibility of formation docking of multiple buses.

[0040] In step S102, when it is detected that the current vehicle is in a preset formation docking condition, and the current vehicle and the target docking vehicle both meet the preset docking conditions, the first target posture of the current vehicle and the second target posture of the target docking vehicle are obtained, and the relative distance, bearing angle and heading angle difference between the current vehicle and the target docking vehicle are obtained according to the first target posture and the second target posture.

[0041] In the embodiment of the present application, the preset docking condition is the condition that the driving conditions of the current vehicle and the target docking vehicle both meet the docking requirements.

[0042] It can be understood that the embodiment of the present application can obtain the first target posture of the current bus and the second target posture of the bus in front in the following steps when it is detected that the current vehicle is in a formation docking condition and the current vehicle and the target docking vehicle both meet the docking conditions, wherein the target docking vehicle can be the vehicle in front of the current vehicle, for example, the current bus and the bus in front are not in a formation docking state, the current bus and the bus in front are both in a uniform speed driving state, or the sensors and communication equipment of the current bus and the bus in front can be used normally, etc., and the relative distance, bearing angle and heading angle difference between the current bus and the bus in front in the following steps are obtained according to the first target posture and the second target posture, thereby effectively improving the accuracy of the formation docking control of multiple buses.

[0043] Among them, in one embodiment of the present application, obtaining a first target posture of the current vehicle and a second target posture of the target docking vehicle includes: obtaining a first initial posture of the current vehicle and a second initial posture of the target docking vehicle; based on the target posture transformation matrix, obtaining a first target posture of the first initial posture at the target point and a second target posture of the second initial posture at the target point.

[0044] In the actual implementation process, the embodiments of the present application can be based on navigation positioning and V2V (Vehicle to Vehicle communication, information exchange between the vehicle itself and other vehicles) technology, wherein V2V communicates between vehicles through a vehicle-mounted terminal, and the vehicle-mounted terminal can obtain real-time information such as the speed, position, and driving conditions of surrounding vehicles. For example, the embodiments of the present application can obtain the global coordinates and heading angle of the current bus based on its own front axle center, and can obtain the global coordinates, actual vehicle speed, heading angle and angular velocity of the bus in front based on its own front axle center. Furthermore, based on the target posture conversion matrix in the following steps, the first target posture of the current bus at the target point and the second target posture of the bus in front at the target point can be obtained, which effectively improves the convenience of obtaining information.

[0045] In one embodiment of the present application, the relative distance, bearing angle and heading angle difference between the current vehicle and the target docking vehicle are expressed as follows:

[0046]

[0047]

[0048]

[0049] in, is the global coordinate of the current vehicle, is the global coordinate of the target docking vehicle, d ij is the relative distance between the current vehicle and the target vehicle, β ij is the bearing angle between the current vehicle and the target docking vehicle, γ ij is the difference in heading angle between the current vehicle and the target docking vehicle, is the current vehicle heading angle, is the heading angle of the target docking vehicle.

[0050] For example, a relatively unified kinematic model for a bus with non-holonomic movement is as follows:

[0051]

[0052]

[0053]

[0054] δ i =arctan(ω i L / v i )

[0055] in, is the position of the front axle center of the current bus, that is, the origin of the coordinate system of the current bus itself, denoted as Φ i The global coordinate system The orientation angle under i is the current linear speed of the bus, ω i is the current angular velocity of the bus, and L is the wheelbase of the bus.

[0056] Then, if Figure 2 As shown, the docking algorithm of the formation considered in the embodiment of the present application mainly controls the relative state of the two connection mechanisms, wherein: Figure 2 The red and green figures in the figure respectively represent the connection mechanism between the rear of the front bus and the head of the current bus. The front bus passes through the origin of the coordinate system Move down l0 along the vehicle body direction to get the new coordinate system origin The current bus passes through the origin of the coordinate system Move l1 down along the direction of the vehicle body to get the new origin of the coordinate system Two new coordinate system origins and The expression is as follows:

[0057]

[0058]

[0059]

[0060]

[0061] in, is the current heading angle of the bus, is the heading angle of the bus in front, l1 is the downward movement distance of the current bus, and l0 is the downward movement distance of the bus in front.

[0062] Based on the information of the bus in front and the current bus, the relative state of the two buses is introduced. According to the expressions of the relative distance, bearing angle and heading angle difference between the current bus and the bus in front in the above steps, the relative distance d between the current bus and the bus in front can be obtained. 10 Towards the expected distance The bearing angle β between the current bus and the bus in front 10 Towards the desired bearing angle The difference in heading angle between the current bus and the bus in front γ 10 tend to in, Generally, it can be set to zero, but in actual engineering, due to the characteristics of the connection mechanism, Take negative value to achieve better docking effect.

[0063] Furthermore, the embodiment of the present application may define a non-central reference point As the target point of the current vehicle, that is:

[0064]

[0065]

[0066] in, is the expected distance between the current bus and the bus ahead, is the new global coordinate of the current bus, is the current heading angle of the bus, is the expected bearing angle between the current bus and the bus in front.

[0067] Next, we quote the error term in:

[0068]

[0069]

[0070] Secondly, introduce the coordinate transformation to obtain:

[0071]

[0072]

[0073] in, is the error term, δ1 is the relative distance error between the front bus and the current bus in the front bus's own coordinate system, including the x-axis and y-axis directions respectively, and C1 is the rotation matrix.

[0074] Based on the above formula, the transformation of the connection and mathematical derivation can be obtained:

[0075]

[0076]

[0077] Among them, d 10is the relative distance between the current bus and the bus ahead, β 10 is the bearing angle between the current bus and the bus in front, γ 10 is the difference in heading angle between the current bus and the bus in front, is the function matrix.

[0078] Regarding the above i The definition of , derivation yields:

[0079]

[0080] Among them, u is the control input of the current bus, v0 is the linear velocity of the bus in front, ω0 is the angular velocity of the bus in front, and They are all function matrices.

[0081] Among them, u=[v,w] T For control input:

[0082]

[0083]

[0084] According to the Lypunov stability analysis method, the following closed-loop system is expected to be obtained through controller design, namely:

[0085]

[0086] Where c is the control gain.

[0087] It should be noted that under the control stability principle, only by forming a closed-loop system in the following form can it be ensured that δ1 eventually tends to zero, that is, the relative position error between the bus in front and the current bus reaches zero, and the control target is achieved.

[0088] In step S103, the target turning angle and target speed of the current vehicle are determined using the relative distance, bearing angle and heading angle difference, and an angle control instruction and a speed control instruction of the current vehicle are generated according to the target turning angle and the target speed, so as to control the current vehicle and the target docking vehicle to perform formation docking using the angle control instruction and the speed control instruction.

[0089] It can be understood that the embodiments of the present application can use the relative distance, bearing angle and heading angle difference in the following steps to determine the turning angle and speed of the current vehicle, and generate the turning angle control instruction and speed control instruction of the current vehicle according to the turning angle and speed, so that the turning angle control instruction and the speed control instruction can be used to control the current vehicle and the target docking vehicle to perform formation docking, which effectively improves the applicability and reliability of bus multi-vehicle formation control, and improves the intelligence level of bus multi-vehicle formation control.

[0090] Optionally, in one embodiment of the present application, the target turning angle and target speed of the current vehicle are determined using the relative distance, bearing angle and heading angle difference, including: based on the relative distance, bearing angle and heading angle difference, using a target lateral controller to determine the target turning angle and target speed of the current vehicle.

[0091] For example, the embodiment of the present application can determine the turning angle and speed of the current bus based on the relative distance, bearing angle and heading angle difference between the current bus and the bus in front in the above steps, using the formula of the lateral controller in the following steps, thereby effectively improving the accuracy of formation docking.

[0092] Among them, the embodiment of the present application can design the lateral controller as:

[0093]

[0094] Among them, c is the control gain, v0 is the linear velocity of the bus in front, ω0 is the angular velocity of the bus in front, and u is the control input of the current bus, which includes speed and turning angle commands respectively.

[0095] Furthermore, the embodiment of the present application can calculate the current turning angle and speed of the bus according to the lateral controller, and generate control instructions such as front wheel turning angle instructions and speed instructions, and update the control instructions in real time, so that the relative distance between the two buses reaches the expected value, the bearing angle reaches the expected value, and the heading angle deviation is reduced to zero, thereby realizing the formation docking of the two buses in motion, effectively improving the applicability and reliability of bus multi-vehicle formation control.

[0096] For example, Figure 3 As shown, the working principle of the embodiment of the present application is described in detail below with a specific embodiment.

[0097] Step S301: Detect whether the current vehicle and the target docking vehicle meet the formation docking requirements. If the formation docking requirements are met, execute step S302, otherwise the two buses do not perform formation docking.

[0098] Step S302: Detect whether the data of the sensor and the communication device are normal. If the data is normal, execute step S304; otherwise, execute step S303.

[0099] Step S303: decelerate and stop the vehicle, and execute step S308.

[0100] Step S304: respectively obtain a first initial posture and a second initial posture of the current vehicle and the target docking vehicle, and based on the target posture conversion matrix, obtain a first target posture of the first initial posture at the target point and a second target posture of the second initial posture at the target point.

[0101] Step S305: Obtain the relative distance, bearing angle and heading angle difference between the current vehicle and the target docking vehicle according to the first target posture and the second target posture.

[0102] Step S306: Utilize the lateral controller to obtain the target turning angle and target speed of the current vehicle.

[0103] Step S307: target turning angle control instruction, that is, using the target turning angle to generate a target turning angle control instruction to control the front wheel turning angle of the current vehicle, thereby improving the applicability and reliability of vehicle formation control.

[0104] Step S308: target speed control instruction, that is, using the target speed to generate a target speed control instruction to control the speed of the current vehicle, thereby improving the intelligent level of bus multi-vehicle platoon control.

[0105] According to the formation docking control method for multiple vehicles of the intelligent networked public transportation proposed in the embodiment of the present application, when it is detected that the current vehicle is in the preset formation docking condition, and the current vehicle and the target docking vehicle both meet the docking conditions, the relative distance, bearing angle and heading angle difference between the current vehicle and the target docking vehicle can be obtained, thereby determining the target turning angle and target speed of the current vehicle, generating the turning angle control command and speed control command of the current vehicle according to the target turning angle and target speed, and then controlling the current vehicle and the target docking vehicle to perform formation docking, effectively improving the applicability and reliability of vehicle formation control, and improving the intelligent level of vehicle formation control. Therefore, the problem that the driving path and formation of the vehicle are planned in advance in the related technology, and the emergency situation of the vehicle during the driving process cannot be effectively dealt with, the applicability of vehicle formation control is reduced, and the intelligent level of vehicle formation control is reduced.

[0106] Next, a platoon docking control device for multiple intelligent connected buses proposed in accordance with an embodiment of the present application will be described with reference to the accompanying drawings.

[0107] Figure 4 It is a block diagram of a platoon docking control device for multiple intelligent connected buses according to an embodiment of the present application.

[0108] like Figure 4 As shown, the intelligent network-connected bus multi-vehicle platoon docking control device 10 includes: a detection module 100, an acquisition module 200 and a control module 300.

[0109] Specifically, the detection module 100 is used to detect whether the current vehicle is in a preset platoon docking condition.

[0110] The acquisition module 200 is used to acquire the first target posture of the current vehicle and the second target posture of the target docking vehicle when it is detected that the current vehicle is in a preset formation docking condition and the current vehicle and the target docking vehicle both meet the preset docking conditions, and obtain the relative distance, bearing angle and heading angle difference between the current vehicle and the target docking vehicle according to the first target posture and the second target posture.

[0111] The control module 300 is used to determine the target turning angle and target speed of the current vehicle by using the relative distance, bearing angle and heading angle difference, and generate the turning angle control instruction and speed control instruction of the current vehicle according to the target turning angle and target speed, so as to control the current vehicle and the target docking vehicle to perform formation docking by using the turning angle control instruction and the speed control instruction.

[0112] Optionally, in one embodiment of the present application, the acquisition module 200 includes: a first acquisition unit and a second acquisition unit.

[0113] The first acquisition unit is used to acquire a first initial position and posture of the current vehicle and a second initial position and posture of the target docking vehicle.

[0114] The second acquisition unit is used to acquire a first target pose of the first initial pose at the target point and a second target pose of the second initial pose at the target point based on the target pose conversion matrix.

[0115] Optionally, in one embodiment of the present application, the control module 300 includes: a determination unit.

[0116] Wherein, the determination unit is used to determine the target turning angle and target speed of the current vehicle using the target lateral controller based on the relative distance, the bearing angle and the heading angle difference.

[0117] Optionally, in one embodiment of the present application, the relative distance, bearing angle and heading angle difference between the current vehicle and the target docking vehicle are expressed as follows:

[0118]

[0119]

[0120]

[0121] in, is the global coordinate of the current vehicle, is the global coordinate of the target docking vehicle, d ij is the relative distance between the current vehicle and the target vehicle, β ij is the bearing angle between the current vehicle and the target docking vehicle, γ ij is the difference in heading angle between the current vehicle and the target docking vehicle, is the current vehicle heading angle, is the heading angle of the target docking vehicle.

[0122] It should be noted that the aforementioned explanation of the embodiment of the formation docking control method for multiple vehicles of an intelligent connected bus is also applicable to the formation docking control device for multiple vehicles of an intelligent connected bus of this embodiment, and will not be repeated here.

[0123] According to the formation docking control device for multiple vehicles of the intelligent networked public transportation proposed in the embodiment of the present application, when it is detected that the current vehicle is in a preset formation docking condition and the current vehicle and the target docking vehicle both meet the docking conditions, the relative distance, bearing angle and heading angle difference between the current vehicle and the target docking vehicle can be obtained, thereby determining the target turning angle and target speed of the current vehicle, generating the turning angle control command and speed control command of the current vehicle according to the target turning angle and target speed, and then controlling the current vehicle and the target docking vehicle to perform formation docking, effectively improving the applicability and reliability of vehicle formation control, and improving the intelligent level of vehicle formation control. Thus, the problem that the driving path and formation of vehicles are planned in advance in the related technology, and the emergency situation of the vehicle during the driving process cannot be effectively dealt with, the applicability of vehicle formation control is reduced, and the intelligent level of vehicle formation control is reduced.

[0124] Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0125] A memory 501 , a processor 502 , and a computer program stored in the memory 501 and executable on the processor 502 .

[0126] When the processor 502 executes the program, the formation docking control method of multiple intelligent connected buses provided in the above embodiment is implemented.

[0127] Furthermore, the vehicle also includes:

[0128] The communication interface 503 is used for communication between the memory 501 and the processor 502 .

[0129] The memory 501 is used to store computer programs that can be executed on the processor 502 .

[0130] The memory 501 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0131] If the memory 501, the processor 502 and the communication interface 503 are implemented independently, the communication interface 503, the memory 501 and the processor 502 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0132] Optionally, in a specific implementation, if the memory 501, the processor 502 and the communication interface 503 are integrated on a chip, the memory 501, the processor 502 and the communication interface 503 can communicate with each other through an internal interface.

[0133] The processor 502 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0134] This embodiment also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the above-mentioned method for controlling the formation docking of multiple vehicles of the intelligent connected bus is implemented.

[0135] This embodiment also provides a computer program, which, when executed, is used to implement the above-mentioned method for controlling the formation docking of multiple vehicles of the intelligent connected bus.

[0136] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0137] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0138] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0139] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary and then storing it in a computer memory.

[0140] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one or a combination of the following technologies known in the art: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0141] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0142] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0143] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for controlling the formation docking of multiple vehicles of an intelligent network-connected bus, characterized in that: The following steps are involved: Detect whether the current vehicle is in the preset formation docking condition; When it is detected that the current vehicle is in the preset formation docking condition and the current vehicle and the target docking vehicle both meet the preset docking conditions, a first target posture of the current vehicle and a second target posture of the target docking vehicle are obtained, and a relative distance, a bearing angle, and a heading angle difference between the current vehicle and the target docking vehicle are obtained according to the first target posture and the second target posture; Based on the relative distance, the bearing angle and the heading angle difference, a target lateral controller is used to determine the target turning angle and target speed of the current vehicle, and an angle control instruction and a speed control instruction of the current vehicle are generated according to the target turning angle and the target speed, so as to use the angle control instruction and the speed control instruction to control the current vehicle and the target docking vehicle to perform formation docking.

2. The method according to claim 1, characterized in that The obtaining of the first target posture of the current vehicle and the second target posture of the target docking vehicle includes: Acquire a first initial position and posture of the current vehicle and a second initial position and posture of the target docking vehicle; Based on the target posture conversion matrix, the first target posture of the first initial posture at the target point and the second target posture of the second initial posture at the target point are obtained.

3. The method according to claim 1, characterized in that The relative distance, bearing angle and heading angle difference between the current vehicle and the target docking vehicle are expressed as follows: in, is the global coordinate of the current vehicle, is the global coordinate of the target docking vehicle, d ij is the relative distance between the current vehicle and the target vehicle, β ij is the bearing angle between the current vehicle and the target docking vehicle, γ ij is the difference in heading angle between the current vehicle and the target docking vehicle, is the current vehicle heading angle, is the heading angle of the target docking vehicle.

4. A platoon docking control device for multiple intelligent network-connected buses, characterized in that: include: A detection module is used to detect whether the current vehicle is in a preset formation docking condition; an acquisition module, configured to acquire a first target posture of the current vehicle and a second target posture of the target docking vehicle when it is detected that the current vehicle is in the preset formation docking condition and both the current vehicle and the target docking vehicle meet preset docking conditions, and obtain a relative distance, a bearing angle, and a heading angle difference between the current vehicle and the target docking vehicle according to the first target posture and the second target posture; a control module, configured to determine a target turning angle and a target speed of the current vehicle by using the relative distance, the bearing angle, and the heading angle difference, and to generate a turning angle control instruction and a speed control instruction of the current vehicle according to the target turning angle and the target speed, so as to control the current vehicle and the target docking vehicle to perform formation docking by using the turning angle control instruction and the speed control instruction; A determination unit is used to determine the target turning angle and the target speed of the current vehicle based on the relative distance, the bearing angle and the heading angle difference using a formula of a target lateral controller.

5. The device according to claim 4, characterized in that The acquisition module comprises: A first acquisition unit, used to acquire a first initial position and posture of the current vehicle and a second initial position and posture of the target docking vehicle; A second acquisition unit is configured to acquire, based on a target posture conversion matrix, the first target posture of the first initial posture at a target point and the second target posture of the second initial posture at the target point.

6. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the formation docking control method for multiple intelligent networked buses as described in any one of claims 1 to 3.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the formation docking control method for multiple intelligent connected buses as described in any one of claims 1 to 3.

8. A computer program product having a computer program stored thereon, characterized in that: The computer program is executed to implement the formation docking control method for multiple intelligent connected buses as described in any one of claims 1 to 3.

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